多卷筒海洋拖曳绞车集成控制系统研究
发布时间：2018-11-01 19:44
【摘要】：多卷筒海洋拖曳绞车是海洋拖曳系统中的重要工程装备,在海洋学研究和海洋资源勘探中有着重大作用。本文针对多卷筒拖曳绞车需使用大量执行器驱动多个卷筒收放的特点,结合当前工程机械控制系统的发展现状提出了一套自动化、智能化的集成控制方案,对多卷筒绞车的控制具有较高的学术研究和工程应用价值。本文围绕集成控制系统的软硬件开发和控制算法研究而撰写,同时设计了集成控制系统的离线调试平台,主要内容包括：(1)硬件系统的模块化设计。以32位微控制器STM32F103ZET7芯片为核心设计硬件系统的主控单元,主控单元和多个带单片机系统的功能模块共同完成集成控制系统的输入输出和通信功能。(2)软件系统的设计。提出了软件系统的整体架构和软件的总体流程,完成了主控单元和其他功能模块的微机系统的软件设计,设计了基于触摸屏的人机交互系统。(3)拖曳绞车的控制算法研究。通过仿真和实验的方法用PID和模糊控制算法对拖曳绞车上平衡头架和排缆机构工作过程中的闭环控制进行了研究。(4)集成控制系统离线调试平台的研究。设计了调试平台的上位机和下位机,对研制的集成控制系统进行了流程化的软硬件功能测试。
[Abstract]:Multi-drum marine towing winch is an important engineering equipment in marine towing system and plays an important role in oceanographic research and marine resource exploration. Aiming at the characteristic that a large number of actuators are used to drive multiple reels in multi-drum towing winch, a set of automatic and intelligent integrated control scheme is put forward according to the current development situation of construction machinery control system. The control of multi-drum winch has high academic research and engineering application value. This paper focuses on the software and hardware development of the integrated control system and the research of the control algorithm. At the same time, the off-line debugging platform of the integrated control system is designed. The main contents are as follows: (1) the modularization design of the hardware system. The main control unit of the hardware system is designed with 32-bit microcontroller STM32F103ZET7 chip as the core. The main control unit and several functional modules with single chip microcomputer system jointly complete the input, output and communication functions of the integrated control system. (2) the design of the software system. The whole structure of the software system and the overall flow of the software are put forward, the software design of the microcomputer system of the main control unit and other functional modules is completed, and the man-machine interaction system based on the touch screen is designed. (3) the control algorithm of the towing winch is studied. By means of simulation and experiment, the closed loop control of the balancing head frame and cable discharging mechanism on the towing winch is studied by using PID and fuzzy control algorithm. (4) the off-line debugging platform of the integrated control system is studied. The upper and lower computers of the debugging platform are designed, and the software and hardware functions of the developed integrated control system are tested.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：P75;TP273
[Abstract]:Multi-drum marine towing winch is an important engineering equipment in marine towing system and plays an important role in oceanographic research and marine resource exploration. Aiming at the characteristic that a large number of actuators are used to drive multiple reels in multi-drum towing winch, a set of automatic and intelligent integrated control scheme is put forward according to the current development situation of construction machinery control system. The control of multi-drum winch has high academic research and engineering application value. This paper focuses on the software and hardware development of the integrated control system and the research of the control algorithm. At the same time, the off-line debugging platform of the integrated control system is designed. The main contents are as follows: (1) the modularization design of the hardware system. The main control unit of the hardware system is designed with 32-bit microcontroller STM32F103ZET7 chip as the core. The main control unit and several functional modules with single chip microcomputer system jointly complete the input, output and communication functions of the integrated control system. (2) the design of the software system. The whole structure of the software system and the overall flow of the software are put forward, the software design of the microcomputer system of the main control unit and other functional modules is completed, and the man-machine interaction system based on the touch screen is designed. (3) the control algorithm of the towing winch is studied. By means of simulation and experiment, the closed loop control of the balancing head frame and cable discharging mechanism on the towing winch is studied by using PID and fuzzy control algorithm. (4) the off-line debugging platform of the integrated control system is studied. The upper and lower computers of the debugging platform are designed, and the software and hardware functions of the developed integrated control system are tested.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：P75;TP273
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