基于DSP的装载机线控转向系统控制子系统研究设计

发布时间：2018-03-09 14:27

本文选题：装载机　切入点：线控转向　出处：《长春工业大学》2011年硕士论文　论文类型：学位论文

【摘要】：线控转向是指通过微电子技术连接并控制转向系统的元件来代替传统的机械或液压连接,用传感器记录驾驶者的转向数据和车辆转角、车速、转向阻力等数据并传送给车载控制器,车载控制器按照给定的控制算法计算输出控制信号,控制车辆的转向角度实现转向控制。随着计算机技术在工程机械中的应用日益广泛,线控转向技术也已由汽车产业向工程车辆转移。同时,随着大规模集成电路技术的发展,采用微处理器作为硬件控制核心的线控转向装置将成为今后车辆转向技术的发展趋势,具有巨大的市场潜力。转向系统是轮式装载机中最为重要的系统之一,它直接影响整机的安全性、作业效率、能源消耗和司机的劳动强度。为了解决传统的转向系统存在转向灵敏度不可调节、没有路感等问题,本文采用线控转向技术设计了高效可靠的装载机线控转向控制子系统,可以提高装载机作业效率,并给驾驶员提供合适的路感。本文所做的主要工作如下：首先,对转向控制算法进行了研究,为了使车辆能够准确快捷地执行驾驶员的指令,本文采用模糊自整定PID控制策略,来增强车辆的可控性,改善车辆的操纵稳定性能。并在MATLAB/Simulink环境支持下,对无校正、常规PID与模糊自整定PID控制算法分别进行仿真,结果显示采用模糊自整定PID控制算法响应时间较快,可以很好的满足转向系统的需求。其次,为了满足装载机线控转向系统的工作要求,设计了以TMS320LF2407DSP芯片为核心,包含复位、输入、输出驱动、显示等电路以及转向控制模块在单板机上的实现方案,解决了线控转向系统对多任务、高实时性的需求问题。最后,本文又进行了控制系统软件的设计。本文所设计的控制系统采用的是汇编语言和C语言进行开发,这两种语言各具特色。汇编语言速度快、实时性高,可以直接控制DSP2407内部的寄存器,并且可精确控制DSP的时间特性；而C语言功能丰富,使用灵活,可移植性好,编程效率高。两种语言结合使用,优势互补,可以缩短程序的开发周期。软件开发采用模块化结构设计,通用性好,便于改进和扩充,从而研制出规模更大,性能更完备的系统。本文所设计的控制系统具有体积小,可靠性高,专用性强,性价比高等优点。。实验及仿真结果表明,该系统响应时间较快,准确性高,能够满足实际转向系统的需求。
[Abstract]:Wire steering is the use of microelectronics to connect and control the components of the steering system in place of traditional mechanical or hydraulic connections, using sensors to record the steering data of the driver and the vehicle rotation angle and speed. The steering resistance and other data are transmitted to the vehicle controller. The vehicle controller calculates the output control signal according to the given control algorithm and controls the steering angle of the vehicle to realize the steering control. With the increasing application of computer technology in construction machinery, wire-controlled steering technology has been transferred from automobile industry to engineering vehicle. At the same time, with the development of large-scale integrated circuit technology, The wire-controlled steering device with microprocessor as the core of hardware control will become the development trend of vehicle steering technology in the future and has great market potential. Steering system is one of the most important systems in wheel loader. It directly affects the safety, working efficiency, energy consumption and labor intensity of the driver. In order to solve the problem that the steering sensitivity of the traditional steering system can not be adjusted, Without the problem of road sense, this paper designs an efficient and reliable steering control subsystem of loader by wire steering technology, which can improve the working efficiency of loader and provide a suitable sense of road for the driver. The main work of this paper is as follows:. Firstly, the steering control algorithm is studied. In order to make the vehicle execute the driver's instruction accurately and quickly, the fuzzy self-tuning PID control strategy is adopted to enhance the controllability of the vehicle. Under the support of MATLAB/Simulink environment, the conventional PID and fuzzy self-tuning PID control algorithms are simulated, respectively. The results show that the response time of the fuzzy self-tuning PID control algorithm is faster. It can meet the requirements of the steering system well. Secondly, in order to meet the working requirements of the linear steering system of the loader, the realization scheme of the TMS320LF2407DSP chip is designed, which includes reset, input, output drive, display circuit and steering control module on the single board computer. The problem of multi-task and high-real-time requirement of wire steering system is solved. Finally, this paper designs the control system software. The control system designed in this paper is developed by assembly language and C language. The two languages have their own characteristics. The assembly language is fast and real-time. It can directly control the register inside DSP2407 and accurately control the time characteristic of DSP, while C language has rich function, flexible use, good portability and high programming efficiency. It can shorten the development cycle of the program. The software development adopts modular structure design, which has good generality, and is easy to improve and expand, so that the system with larger scale and more complete performance can be developed. The control system designed in this paper has the advantages of small volume, high reliability, high specificity, high performance-to-price ratio and so on. The experimental and simulation results show that the system can meet the needs of the actual steering system because of its fast response time and high accuracy.
【学位授予单位】：长春工业大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH243;TP273

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