自动化码头中目标检测系统的控制系统研究

发布时间：2018-04-26 12:55

本文选题：目标检测系统 + 控制系统　；参考：《上海电机学院》2017年硕士论文

【摘要】：随着社会的进步与发展,工业自动化已经成为工业发展的必然趋势,而作为实现海陆物流输送的枢纽的集装箱码头的自动化也成为世界上很多国家关注的热点,其中目标检测系统是实现码头自动化的重要一环。由于现有的目标检测系统中的控制系统成本高且难以满足现场高振动、高温度、高湿度等的恶劣工作环境,所以对控制系统的研究具有重要的现实意义。本文针对自动化码头中的目标检测系统进行研究,首先从总体对目标检测系统进行了分析与研究,然后设计出适配该目标检测系统的控制系统。具体完成了以下工作:首先通过对目标检测系统的总体设计方案及其组网形式的研究,分析了此系统对控制系统的算法、硬软件、性能、通信等需求,确立了此控制系统的整体设计方案。其次对CANopen通信协议中的CIA301通信子协议和CIA402设备子协议进行了分析,重点研究了通信子协议中的对象字典和通信对象以及设备子协议中的设备控制、回零模式和位置控制模式,为控制系统的软件设计打下了基础。再次为了保证系统速度的连续性对伺服电机的梯形及S型速度规划算法进行了研究分析,并利用MATLAB仿真软件对此算法完成了仿真分析,仿真结果表明此算法规划的速度达到了连续性与稳定性的要求。最后设计出以DSP处理器TMS320F28335为主控芯片的控制器,以及包括CANopen程序设计、电机驱动及测速、速度规划算法等功能模块的软件设计开发,然后结合控制系统的硬软件平台,通过上位机软件对控制系统的通信、速度规划等功能进行了测试,整机测试结果表明了此控制系统设计方案的可行性。
[Abstract]:With the progress and development of society, industrial automation has become an inevitable trend of industrial development, and the automation of container terminals, which is the hub of sea and land logistics transportation, has become the focus of attention of many countries in the world. The target detection system is an important part of the terminal automation. Because the cost of the existing target detection system is high and it is difficult to meet the harsh working environment of high vibration, high temperature and high humidity, it is of great practical significance to study the control system. In this paper, the target detection system in the automatic wharf is studied. Firstly, the target detection system is analyzed and studied from the overall level, and then the control system suitable for the target detection system is designed. The following work has been accomplished: firstly, through the study of the overall design scheme and the form of networking of the target detection system, the requirements of the control system such as algorithm, hardware and software, performance, communication and so on are analyzed. The overall design of the control system is established. Secondly, the CIA301 communication sub-protocol and the CIA402 device sub-protocol in the CANopen communication protocol are analyzed, and the object dictionary and communication object in the communication sub-protocol, as well as the device control, zero return mode and position control mode in the device sub-protocol are studied. It lays a foundation for the software design of the control system. Thirdly, in order to ensure the continuity of the system speed, the trapezoidal and S-type speed planning algorithms of the servo motor are studied and analyzed, and the simulation analysis of the algorithm is completed by using the MATLAB simulation software. The simulation results show that the speed of the algorithm meets the requirements of continuity and stability. Finally, the controller with DSP processor TMS320F28335 as the main control chip is designed, and the software design and development of the function modules including CANopen program design, motor drive and speed measurement, speed planning algorithm and so on are designed, and then combined with the hardware and software platform of the control system. The communication and speed planning functions of the control system are tested by the upper computer software. The test results show that the design of the control system is feasible.
【学位授予单位】：上海电机学院
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U691.3

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