混凝土泵车臂架的遥控器开发及动力学模型研究

发布时间：2018-12-18 16:57

【摘要】：混凝土泵车是建筑行业应用最广泛的机械设备之一,具有操作灵活、方便高效等诸多优点。混凝土泵车臂架是一个多自由度的冗余系统,伸展长度达几十米。泵车作业现场环境复杂,传统控制多采用手动控制单节臂架运转的方式。随着技术发展和施工需要,如何控制泵车臂架协调、平稳、准确、可靠地运动成为近年来研究的热点。本论文主要包括两大部分：一是完成了基于ZigBee的泵车臂架的遥控装置设计制作；二是构建泵车智能臂架半实物仿真平台,并对被控对象臂架模型进行动力学建模。混凝土泵车臂架遥控装置包括发射端和接收端两部分。发射端上有多功能集成操作摇杆和按键,操作者通过操作摇杆和按键下发操作指令。发射端安装有LCD屏,用来显示臂架实际角度信息。接收端接收指令后转换成CAN信号并发送至CAN总线,供半实物仿真平台中的PLC控制器接收。本次设计改变了操作者直接控制每一节臂架的传统操作方式,而是利用多功能集成操作手柄给出浇筑点的运动轨迹所对应的臂架升降、伸缩和转台的旋转角度,再由PLC控制器按照开环控制闭环检测控制策略规划臂架和转台的运动并实施驱动。为了更好地研究混凝土泵车臂架的智能控制建立混凝土泵车半实物仿真平台。平台由PLC车载控制器、工控机模拟臂架系统和上位机臂架仿真显示部分组成。首先,建立混凝土泵车的动力学模型,在工控机上运行,用工控机模拟实际泵车臂架系统。再者,PLC控制器接收遥控装置指令和臂架角度信息,根据逆运动学运算,规划臂架运动轨迹,采用开环控制闭环检测算法控制臂架运动,输出PWM驱动信号。工控机利用数据采集板卡采集实际PLC控制器输出的驱动信号,利用建立的臂架模型,由工控机算出臂架角度实际变化情况。最后,将各转角信息通过工控机的CAN口输出,以便PLC控制器接收和上位机仿真显示。在遥控装置和半实物仿真平台都设计完成之后,对遥控装置的发射端和接收端进行调试。调试结果表明,发射端硬件工作正常,可正常扫描摇杆、按键信息并发送指令,LCD屏可准确显示臂架角度等参数,接收端和发射端通信正常。对半实物仿真平台中PLC控制器和上位机显示部分进行系统的联调,实现遥控发射端60ms定时发送指令给接收端,接收端接收数据之后打包成CAN信号发送到CAN总线,PLC接收遥控指令和臂架反馈的实际角度信息,开环控制闭环检测算法运行效果好。
[Abstract]:Concrete pump car is one of the most widely used mechanical equipment in construction industry. It has many advantages, such as flexible operation, convenient and efficient operation and so on. The boom of concrete pump truck is a multi-degree of freedom redundant system, stretching up to tens of meters. The working environment of pump car is complex, the traditional control adopts the manual control mode of single-link jib operation. With the development of technology and the need of construction, how to control the coordinated, smooth, accurate and reliable movement of the boom of pump has become a hot topic in recent years. This paper mainly includes two parts: one is to complete the design and manufacture of remote control device of the boom of pump vehicle based on ZigBee, the other is to construct the hardware-in-the-loop simulation platform of intelligent boom of pump vehicle, and to model the dynamic model of the controlled object. The remote control device of the arm of a concrete pump vehicle includes two parts: the transmitter and the receiver. The transmitter has multi-function integrated operation lever and key, the operator sends the operation instruction through the operation rocker and key. A LCD screen is installed at the transmitter to display the actual angle information of the boom. After receiving the instructions, the receiver converts them into CAN signals and sends them to the CAN bus, which can be received by the PLC controller in the hardware-in-the-loop simulation platform. This design has changed the traditional operation mode in which the operator directly controls each section of the arm, but uses the multi-function integrated operating handle to give the boom lift, expansion and rotation angle corresponding to the movement track of the pouring point. The motion of boom and turntable is planned and actuated by PLC controller according to open loop control and closed loop detection control strategy. In order to better study the intelligent control of the arm of concrete pump vehicle, the hardware-in-the-loop simulation platform of concrete pump vehicle is established. The platform is composed of PLC vehicle controller, industrial computer simulation boom system and upper computer arm display simulation. First of all, the dynamic model of concrete pump car is established, which runs on the industrial control computer, and simulates the actual pump truck boom system with the industrial control computer. Furthermore, the PLC controller receives the instructions of the remote control device and the angle information of the arm, according to the inverse kinematics operation, plans the motion trajectory of the arm, uses the open-loop control closed-loop detection algorithm to control the arm motion, and outputs the PWM driving signal. The data acquisition board card is used to collect the driving signal from the actual PLC controller. The actual change of the jib angle is calculated by using the established arm model. Finally, the information of each corner is output through the CAN port of the industrial control computer, so that the PLC controller can receive the information and the simulation of the upper computer can be displayed. After the remote control device and the hardware-in-the-loop simulation platform are designed, the transmitter and receiver of the remote control device are debugged. The debugging results show that the hardware of the transmitter works normally, the rocker can be scanned normally, the key information is sent and instructions are sent, the LCD screen can accurately display the angle of the arm, and the communication between the receiver and the transmitter is normal. The PLC controller and the display part of the host computer in the hardware-in-the-loop simulation platform are combined and adjusted to realize the remote control transmitter 60ms periodically sending instructions to the receiving end. After receiving the data at the receiving end, the CAN signal is packaged and sent to the CAN bus. The PLC receives the actual angle information of the remote control instruction and the arm, and the open-loop control closed-loop detection algorithm works well.
【学位授予单位】：东南大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TU646

【相似文献】