基于STM32的混合动力推土机远程监控系统的研发

发布时间：2018-01-03 09:58

本文关键词：基于STM32的混合动力推土机远程监控系统的研发　出处：《山东大学》2017年硕士论文　论文类型：学位论文

【摘要】：工程机械对于一个国家的发展起着至关重要的作用。随着科技与社会的共同进步,传统的工程机械动力系统越发复杂,混合动力工程机械越来越多。一般的工程机械的工作环境较差,经常处于长时间工作状态,因此故障容易发生。如若机器发生故障,不仅容易耽误工程进度,而且容易造成人员伤亡。因此对工程机械如混合动力推土机,进行远程监控势在必行。本文针对山推某型号混合动力推土机,开发一套远程监控系统,可以实现远程监控推土机工况的功能。此系统可及时的将工作现场的推土机相关运行参数通过GPRS传输到监控中心,以此避免一些不必要故障的发生。在最初的远程监控系统基础上,想提高其系统性能,可从提高其信息采集速率、提高系统实时性入手。该举措可以更及时的使技术人员获得工作中的推土机的运行参数。而提高系统实时性,方法众多,可以借鉴乘用车现在采用的一些新兴总线协议,如Flexray,CAN FD,或者对机械整体进行硬件升级,即采用更加快速的处理器,更加优良的传输介质。但Flexray造价较为昂贵,目前仅用于高端轿车,CAN FD对工程机械信息传输的可靠性无法做到像传统CAN总线一样稳定,此外推土机硬件的整体升级将直接导致制造成本上升,制造难度增大,不利于大面积销售。本文针对提高数据传输实时性问题,分析原推土机内部总线结构,借鉴部分乘用车内部网络拓扑结构布置办法,考虑到推土机工作环境恶劣,在不做较大的硬件改动的情况下,对推土机内部各个ECU节点拓扑结构的优化进行切实可行的研究。本文根据专业文献对影响网络实时性的因素进行详细分析,认为降低网络负载率可极大提高网络实时性。并进一步阐述不同拓扑结构对实时性影响,确定网络拓扑结构可由单总线结构优化为双总线结构。根据实际情况选择相对应的仿真软件进行网络级仿真,仿真对象为CAN单总线和CAN双总线的网络负载对比。接着,用OPNET对推土机内部网络结构进行建模,模拟出推土机内部各个系统之间信息的传输过程。为进一步优化推土机CAN网络拓扑结构,提高远程监控系统的信息传输速率做了充足的准备。本文还阐述了遗传算法的相关知识,列出了使用遗传算法的具体流程。通过对该推土机内部网络节点优化问题的合理分析,在Matlab中搭建了关于降低双总线网络负载率的数学模型。并利用该数学模型对CAN网络双总线节点拓扑结构进行优化,得出相关结果,确定每条总线上的节点如何分布。最终,对优化结果进行阐述分析,确定合适的优化方案。根据优化方案中的节点布置,在OPNET中搭建半实物仿真实验模型平台,利用相关实验器材进行实验验证,取得理想结果。最后,基于以上的改善措施,提出了该远程监控系统的最终设计方案。
[Abstract]:Construction machinery plays a vital role in the development of a country. With the progress of science and technology and society, the traditional power system of construction machinery becomes more and more complex. There are more and more hybrid electric engineering machinery. The working environment of general construction machinery is poor and it is often in the state of working for a long time, so the fault is easy to occur. If the machine breaks down, it is not only easy to delay the progress of the project. And it is easy to cause casualties. So it is imperative to remote monitor construction machinery such as hybrid bulldozer. This paper develops a remote monitoring system for a certain type of hybrid bulldozer. The system can realize the function of remote monitoring the working condition of bulldozer. The system can transmit the relevant operation parameters of bulldozer to the monitoring center through GPRS in time. Based on the original remote monitoring system, to improve the performance of the system, we can improve the rate of information collection. To improve the real-time performance of the system. This measure can make the technical staff more timely to obtain the operational parameters of the bulldozer. But to improve the real-time performance of the system, there are many methods. We can learn from some of the emerging bus protocols, such as Flexray can FDD, or upgrade the hardware of the whole machine, that is, using a faster processor. Better transmission media. But the Flexray is more expensive and is currently used only in high-end cars. The reliability of CAN FD for construction machinery information transmission can not be as stable as the traditional CAN bus. In addition, the overall upgrade of bulldozer hardware will directly lead to the increase of manufacturing costs and manufacturing difficulties. This paper analyzes the internal bus structure of the bulldozer and draws lessons from the layout method of the internal network topology of some passenger cars. Considering the bad working environment of bulldozer, without making larger hardware changes. The optimization of topology structure of each ECU node in bulldozer is studied. According to the professional literature, the factors that affect the real-time performance of the network are analyzed in detail. It is considered that reducing the network load rate can greatly improve the real-time performance of the network, and the influence of different topologies on the real-time performance is further expounded. It is determined that the network topology can be optimized from a single bus structure to a double bus structure. According to the actual situation, the corresponding simulation software is selected for network-level simulation. The simulation object is the comparison of network load between CAN single bus and CAN double bus. Then, the internal network structure of bulldozer is modeled by OPNET. In order to optimize the topology of bulldozer CAN network, the information transmission process between various systems within the bulldozer is simulated. Sufficient preparation has been made to improve the transmission rate of remote monitoring system. This paper also describes the relevant knowledge of genetic algorithm. The specific flow chart of using genetic algorithm is listed, and the reasonable analysis of the optimization problem of the internal network node of the bulldozer is given. The mathematical model of reducing the load rate of double-bus network is built in Matlab, and the topology of double-bus node in CAN network is optimized by using the mathematical model, and the relevant results are obtained. Determine how the nodes on each bus are distributed. Finally, the optimization results are described and analyzed, and the appropriate optimization scheme is determined. According to the node layout in the optimization scheme. Build a hardware-in-the-loop simulation experimental model platform in OPNET, use related experimental equipment for experimental verification, and obtain ideal results. Finally, based on the above improvement measures. The final design of the remote monitoring system is presented.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TU623.5

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