单轴抬升车辆搬运器运动控制规律研究及控制系统开发
发布时间：2019-06-20 04:48
【摘要】：在社会飞速发展的今天,汽车已经越来越多的进入千家万户成为常见的代步工具,这使得土地资源紧张与汽车保有量激增的矛盾也日趋明显。传统的停车设备由于空间有限已经不能满足日益增长的车辆对停车位的需求,高科技含量和高自动化水平的堆垛式立体车库正越来越多的进入市场。车辆搬运器作为立体车库中的重要组成部分,是实现待搬运车辆位置移动的关键。现存堆垛式立体车库中车辆搬运器多采用整体抬升方案,即克服待搬运车辆全部重量将其抬离地面。观察发现目前仍有许多汽车在驻车制动且变速器置于空挡状态下,前轮可以自由转动,针对这一现状提出了一种新型结构形式的单轴抬升式车辆搬运器。这种搬运器采用只抬升待搬运车辆后轮,利用可自由转动的前轮作为支撑点,以推拉的形式实现待搬运车辆的位置移动。在实验室同门完成机械结构设计的基础上,本文主要研究搬运器各机构的运动控制规律及对其控制系统进行开发。针对各机构的结构特点,分别运用Adams软件对前轮转向限位机构和举升杆伸出机构建立仿真模型研究其动力学特性,并采取Adams与MATLAB/Simulink联合仿真的方式对其运动控制规律进行研究;推导建立出后轮举升机构、防脱限定机构和底盘驱动机构的数学模型,并采用MATLAB/Simulink软件对其进行动力学仿真和运动控制规律研究。在得出各机构运动规律特性的基础上选择合适的控制方式、策略及能够满足控制要求的硬件设备,并确定其安装位置;分析对比最终选用PIC16F877A芯片作为控制器,完成控制器最小系统模块、光电传感器模块、旋转编码器模块和电机驱动的硬件电路设计和接口分配;最后绘制这五个机构确定控制方式、绘制控制程序流程图、编写软件程序,主要包括,对PWM模块、旋转编码器在位移和速度采集程序的实现,以及车辆后轮举升运动过程中采用PI控制策略的程序实现。
[Abstract]:With the rapid development of society, more and more cars have become a common walking tool, which makes the contradiction between the shortage of land resources and the surge of car ownership is becoming more and more obvious. Because the traditional parking equipment can not meet the increasing demand for parking spaces because of the limited space, the high-tech content and high automation level of stacker three-dimensional garage are entering the market more and more. As an important part of the three-dimensional garage, the vehicle carrier is the key to realize the position movement of the vehicle to be carried. In the existing stacker three-dimensional garage, the whole lifting scheme is mostly adopted, that is, to overcome the total weight of the vehicle to be carried and lift it off the ground. It is found that there are still many cars in the parking brake and the transmission is in the condition of no gear, and the front wheel can rotate freely. In view of this situation, a new type of single axle lift vehicle carrier is proposed. This kind of carrier only lifts the rear wheel of the vehicle to be carried, and uses the freely rotating front wheel as the support point to realize the position movement of the vehicle to be carried in the form of push and pull. On the basis of completing the mechanical structure design at the same door in the laboratory, this paper mainly studies the motion control law of each mechanism of the carrier and develops its control system. According to the structural characteristics of each mechanism, the dynamic characteristics of the front wheel steering limit mechanism and the lift rod extension mechanism are studied by using Adams software, and the motion control law of the mechanism is studied by means of joint simulation of Adams and MATLAB/Simulink. The mathematical models of rear wheel lifting mechanism, anti-stripping mechanism and chassis driving mechanism are derived and established, and the dynamic simulation and motion control law of the mechanism are studied by using MATLAB/Simulink software. On the basis of obtaining the characteristics of the motion law of each mechanism, the appropriate control mode, strategy and hardware equipment which can meet the control requirements are selected, and the installation position is determined. Finally, the PIC16F877A chip is selected as the controller to complete the hardware circuit design and interface distribution of the controller minimum system module, photoelectric sensor module, rotary encoder module and motor drive. Finally, the control mode of the five mechanisms is drawn, the flow chart of the control program is drawn, and the software program is compiled, which mainly includes the realization of PWM module, the realization of displacement and speed acquisition program of rotary encoder, and the program realization of PI control strategy in the process of vehicle rear wheel lifting motion.
【学位授予单位】：重庆交通大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U491.71
本文编号：2502945
[Abstract]:With the rapid development of society, more and more cars have become a common walking tool, which makes the contradiction between the shortage of land resources and the surge of car ownership is becoming more and more obvious. Because the traditional parking equipment can not meet the increasing demand for parking spaces because of the limited space, the high-tech content and high automation level of stacker three-dimensional garage are entering the market more and more. As an important part of the three-dimensional garage, the vehicle carrier is the key to realize the position movement of the vehicle to be carried. In the existing stacker three-dimensional garage, the whole lifting scheme is mostly adopted, that is, to overcome the total weight of the vehicle to be carried and lift it off the ground. It is found that there are still many cars in the parking brake and the transmission is in the condition of no gear, and the front wheel can rotate freely. In view of this situation, a new type of single axle lift vehicle carrier is proposed. This kind of carrier only lifts the rear wheel of the vehicle to be carried, and uses the freely rotating front wheel as the support point to realize the position movement of the vehicle to be carried in the form of push and pull. On the basis of completing the mechanical structure design at the same door in the laboratory, this paper mainly studies the motion control law of each mechanism of the carrier and develops its control system. According to the structural characteristics of each mechanism, the dynamic characteristics of the front wheel steering limit mechanism and the lift rod extension mechanism are studied by using Adams software, and the motion control law of the mechanism is studied by means of joint simulation of Adams and MATLAB/Simulink. The mathematical models of rear wheel lifting mechanism, anti-stripping mechanism and chassis driving mechanism are derived and established, and the dynamic simulation and motion control law of the mechanism are studied by using MATLAB/Simulink software. On the basis of obtaining the characteristics of the motion law of each mechanism, the appropriate control mode, strategy and hardware equipment which can meet the control requirements are selected, and the installation position is determined. Finally, the PIC16F877A chip is selected as the controller to complete the hardware circuit design and interface distribution of the controller minimum system module, photoelectric sensor module, rotary encoder module and motor drive. Finally, the control mode of the five mechanisms is drawn, the flow chart of the control program is drawn, and the software program is compiled, which mainly includes the realization of PWM module, the realization of displacement and speed acquisition program of rotary encoder, and the program realization of PI control strategy in the process of vehicle rear wheel lifting motion.
【学位授予单位】：重庆交通大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U491.71
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