电动自行式高空作业平台控制系统研究

发布时间：2018-03-17 07:45

本文选题：高空作业平台　切入点：直流无刷电机　出处：《石家庄铁道大学》2013年硕士论文　论文类型：学位论文

【摘要】：高空作业平台是一种将作业人员、工具、材料等通过作业平台举升到空中指定位置进行各种安装、维修等作业的专用高空作业设备。一套安全可靠的控制系统是保证作业人员安全的基本要求,本文以电动自行式高空作业平台为研究对象,围绕其涉及的各项相关的技术进行了研究与分析。首先,通过对几种常用通信方式的分析与比较,通信系统选择了CAN总线通信方式。在实时性设计上,深入研究了CAN总线应用协议,制定了一套简单而有效的应用层协议；在可靠性设计上,从终端电阻、匹配电容和共模扼流器三个方面对CAN总线的EMC(电磁兼容性)问题进行了研究。在上述研究的基础上,完成了CAN通信系统的接口电路和相关程序设计。其次,本文将广泛应用于电动汽车的电子差速控制成功运用到了高空作业平台转向系统上。根据其转向系统的机械结构特点建立了相应数学模型,采用前轮转向,四轮驱动的电子差速模式,在速度给定、转向角度连续变化的条件下,使用Matlab/Simulink对电子差速系统进行了仿真,并对仿真结果进行了相应分析。再次,在上述理论研究的基础上,本文提出了一种基于一个DSP和多个单片机的控制系统结构方案,完成了控制系统的所有硬件与软件设计,并在样车上完成了安装与相关调试。最后,一方面,建立了直流无刷电机本体仿真模型,仿真并分析了相电流、反电动势、转速等参数；另一方面,通过建立直流无刷电机、PWM装置、电流调节器和转速调节器的传递函数,构建了行走电机直流调速系统的转速电流双闭环的PID动态结构模型,并通过Matlab/Simulink对上述模型进行了仿真,根据仿真结果分析了驱动系统动态系统性能。
[Abstract]:Aerial work platform is a kind of operation personnel, tools, materials and so on through the work platform lifting to the designated position in the air for various installation, A set of safe and reliable control system is the basic requirement to ensure the safety of operators. This paper takes the electric self-propelled aerial work platform as the research object. The related technologies are studied and analyzed. Firstly, through the analysis and comparison of several common communication methods, the communication system chooses the CAN bus communication mode. In the real-time design, the application protocol of CAN bus is deeply studied, and a set of simple and effective application layer protocol is established. In reliability design, the EMC (electromagnetic compatibility) problem of CAN bus is studied from three aspects: terminal resistance, matching capacitance and common-mode choke. The interface circuit and related program design of CAN communication system are completed. Secondly, the electronic differential speed control which is widely used in electric vehicles has been successfully applied to the steering system of high altitude platform. According to the mechanical structure characteristics of the steering system, the corresponding mathematical model has been established, and the front wheel steering has been adopted. The electronic differential mode of four-wheel drive is simulated with Matlab/Simulink under the condition that the speed is given and the steering angle changes continuously. The simulation results are analyzed accordingly. Thirdly, on the basis of the above theoretical research, this paper proposes a control system structure scheme based on one DSP and several single chip computers, and completes all the hardware and software design of the control system. And completed the installation and related debugging on the prototype vehicle. Finally, on the one hand, the simulation model of DC brushless motor is established, and the parameters of phase current, backEMF and rotational speed are simulated and analyzed. On the other hand, the PWM device of DC brushless motor is established. Based on the transfer function of current regulator and speed regulator, the PID dynamic structure model of speed and current double closed loop of walking motor DC speed regulating system is constructed, and the model is simulated by Matlab/Simulink. According to the simulation results, the dynamic system performance of the drive system is analyzed.
【学位授予单位】：石家庄铁道大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TH211.6;TP273

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