基于嵌入式系统的吊具平衡控制器及控制软件设计

发布时间：2018-06-06 09:05

本文选题：嵌入式 + 吊具　；参考：《中北大学》2012年硕士论文

【摘要】：吊具平衡控制器是一种用于吊具控制的基于微处理器的系统，在该系统的控制下，吊具可以在起吊过程中快速地将自身结构调整到水平，或调整到预设的姿态。本论文根据矢量几何学和刚体静力学的理论知识，建立了多绳索悬挂下的双刚体静力学模型，该模型由六个力平衡方程和六个力矩平衡方程组成。模型考虑了绳索悬挂点的移动、绳索的单向受力特性、刚体航向角、俯仰角、翻滚角变化，以及两个刚体空间位置、姿态以及作用力之间的关系。上述模型的意义在于，当刚体质量、质心位置、绳索悬挂位置、绳索长度为已知时，可以计算得到每一个刚体的姿态角；反过来，当刚体姿态角被指定时，则可以计算得到绳索悬挂点即将移动到的位置。嵌入式控制系统的设计直接关系到控制方法和算法优化的实现和验证，是本系统设计的中心任务。控制部分以单片机为核心部件，，并以SP2539芯片将单片机的串口扩展，外接感知机械结构的姿态的倾角传感器，变频器；执行部分选用变频器驱动电机的控制方法，单片机和变频器之间基于串口通讯。系统的下位机软件采用C语言编写，实现了串口扩展、倾斜传感器数据读取及变频器控制等功能；上位机平台使用LabView软件搭建，具有系统控制、参数设置、数据分析存储、报警显示等功能。
[Abstract]:The balance controller is a microprocessor-based system used for hoisting control. Under the control of the system, the hoist can quickly adjust its structure to the level or adjust to a preset position during the lifting process. Based on the theory of vector geometry and rigid body statics, a double rigid body statics model with multi-rope suspension is established in this paper. The model consists of six force balance equations and six moment equilibrium equations. The model takes into account the movement of the suspension point of the rope, the unidirectional force characteristics of the rope, the heading angle of the rigid body, the pitch angle, the change of the roll angle, and the relationship between the spatial position, attitude and force of the two rigid bodies. The significance of the above model is that the attitude angle of each rigid body can be calculated when the mass of the rigid body, the position of the center of mass, the suspension position of the rope and the length of the rope are known; conversely, when the attitude angle of the rigid body is specified, The position to which the rope suspension point will be moved can be calculated. The design of embedded control system is directly related to the realization and verification of control method and algorithm optimization, and is the central task of this system design. In the control part, the single-chip microcomputer is taken as the core component, and the serial port of the single chip is expanded by SP2539 chip, the inclination angle sensor of the attitude of the mechanical structure is sensed outside, the frequency converter is used to drive the motor, the control method of the motor driven by the frequency converter is selected. MCU and frequency converter based on serial communication. The lower computer software of the system is written in C language to realize the functions of serial port expansion, tilt sensor data reading and frequency converter control, etc. The upper computer platform is built with LabView software, which has system control, parameter setting, data analysis and storage, etc. Alarm display and other functions.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TP273.5;TH21

【参考文献】