嵌入式智能电液比例阀控制器的研究
摘要
电液比例控制技术充分结合液压控制和电气控制的优点,是流体传动与控制领域中一个具有旺盛生命力的新分支,已发展成为工业机械、工程建设机械及国防尖端产品不可或缺的重要手段。电液比例阀控制器作为电液比例控制系统的重要组成单元,其功能是对比例阀提供特定性能的电流,使比例阀控制的液体流量或压力连续成比例地受到控制。随着嵌入式技术的发展,嵌入式系统被应用到现代工业控制领域,带来了一次新的技术革命。目前,嵌入式系统已经在PC技术、网络技术、通讯、消费类电子、工业控制、交通、航空航天、国防等领域发挥着不可替代的作用。所以采用嵌入式系统技术实现电液比例阀控制器,实现电液比例阀控制器的智能化、数字化、网络化是趋势。
本文在详细分析了电液比例阀的工作原理和控制原理的基础上,采用基于嵌入式技术实现电液比例阀控制器。该控制器的控制逻辑与控制策略由应用软件实现,功能强大、扩展容易、结构简化、性能提高,系统具有较好的经济性和应用的灵活性,易实现多种现代复杂控制策略。同时,系统还具有参数可重复设定、记忆存储和密码保护功能。根据用户的特殊要求,系统中设置了特性曲线的调整、滞环的补偿、固定的运动模式等特殊功能。
本文具体讨论了基于嵌入式技术的电液比例阀控制器实现过程和方法,阐述了系统结构、基本原理和嵌入式系统的组成和构建方法,详细分析了电液比例阀的脉宽调制(PWM)式驱动的驱动原理和实现位移闭环控制的控制原理,设计了反接卸荷式功率放大电路和积分分离式PID控制应用程序,并对基于RS485和Modbus通信协议的总线通信原理及其实现方法进行了讨论。系统设计了实验电路板进行了调试与测试,并对测试结果进行误差分析,基本达到了系统的设计要求。
采用基于嵌入式技术的解决方案,使电液比例阀控制器具有优良的灵活性和可靠性,性价比高,功能强大。具有很强的实际意义和市场推广价值。有效地促进比例阀控制器产品的更新换代,为工业用户提供一种高性能的比例阀控制器。
Electro-hydraulic proportional control technology, which fully integrate the technologies of hydraulic and electrical control, is a new branch of the area of fluid power transmission and control, has developed into the important means of industrial machinery, engineering construction machinery and products of national defense. As an important component of electro-hydraulic proportional control system, the electro-hydraulic proportional valve controller is a device that providing a specific current to proportional valve, so that the flow or pressure of the liquid under continuously control in proportion to it. With the development of embedded system technology, embedded system is applied to modern industrial control, has brought a new technological revolution. At present, the embedded system has play an irreplaceable role in PC technology, network technology, communication, consumer electronic, industrial control, transportation, aerospace, national defense and so on. Therefore, using embedded system technology to develop the electro-hydraulic proportional valve controller, achieving its intelligent、digital、network is the trend.
Based on the detail analysis of the working principle and control principle of the electro-hydraulic proportional valve, this paper design and develop a electro-hydraulic proportional valve controller using embedded system technology, concretely discuss the process and methods of its realization and expound its system structure and basic principle, including the composition and construction methods of embedded system, the PWM driving principle of electro-hydraulic proportional valve, the control theory of displacement closed-loop control, the communication theory base on RS485 and Modbus communication protocol.
The control logic and control strategy of this controller is achieved by application software. This controller possesses a simplified structure, high quality and an economical and flexible performance. It can achieve modern complex control strategies easily, such as digital PID, fuzzy control, adaptive control, etc. And it also has the following advantages: parameters can be stored and set repeatedly by PC or bus, the sensitive or critical parameters can be password-protected, it can provide special control functions according to the special requirements of users, such as special control curve, hysteresis compensation and fixed operating mode.
Base on embedded system technology solution, the electro-hydraulic proportional valve controller has excellent flexibility and reliability, high performance price ratio, powerful function, promoting the renewal of proportional valve controller product effectively, providing a high-performance proportional valve controller to industrial users.
本文在详细分析了电液比例阀的工作原理和控制原理的基础上,采用基于嵌入式技术实现电液比例阀控制器。该控制器的控制逻辑与控制策略由应用软件实现,功能强大、扩展容易、结构简化、性能提高,系统具有较好的经济性和应用的灵活性,易实现多种现代复杂控制策略。同时,系统还具有参数可重复设定、记忆存储和密码保护功能。根据用户的特殊要求,系统中设置了特性曲线的调整、滞环的补偿、固定的运动模式等特殊功能。
本文具体讨论了基于嵌入式技术的电液比例阀控制器实现过程和方法,阐述了系统结构、基本原理和嵌入式系统的组成和构建方法,详细分析了电液比例阀的脉宽调制(PWM)式驱动的驱动原理和实现位移闭环控制的控制原理,设计了反接卸荷式功率放大电路和积分分离式PID控制应用程序,并对基于RS485和Modbus通信协议的总线通信原理及其实现方法进行了讨论。系统设计了实验电路板进行了调试与测试,并对测试结果进行误差分析,基本达到了系统的设计要求。
采用基于嵌入式技术的解决方案,使电液比例阀控制器具有优良的灵活性和可靠性,性价比高,功能强大。具有很强的实际意义和市场推广价值。有效地促进比例阀控制器产品的更新换代,为工业用户提供一种高性能的比例阀控制器。
Electro-hydraulic proportional control technology, which fully integrate the technologies of hydraulic and electrical control, is a new branch of the area of fluid power transmission and control, has developed into the important means of industrial machinery, engineering construction machinery and products of national defense. As an important component of electro-hydraulic proportional control system, the electro-hydraulic proportional valve controller is a device that providing a specific current to proportional valve, so that the flow or pressure of the liquid under continuously control in proportion to it. With the development of embedded system technology, embedded system is applied to modern industrial control, has brought a new technological revolution. At present, the embedded system has play an irreplaceable role in PC technology, network technology, communication, consumer electronic, industrial control, transportation, aerospace, national defense and so on. Therefore, using embedded system technology to develop the electro-hydraulic proportional valve controller, achieving its intelligent、digital、network is the trend.
Based on the detail analysis of the working principle and control principle of the electro-hydraulic proportional valve, this paper design and develop a electro-hydraulic proportional valve controller using embedded system technology, concretely discuss the process and methods of its realization and expound its system structure and basic principle, including the composition and construction methods of embedded system, the PWM driving principle of electro-hydraulic proportional valve, the control theory of displacement closed-loop control, the communication theory base on RS485 and Modbus communication protocol.
The control logic and control strategy of this controller is achieved by application software. This controller possesses a simplified structure, high quality and an economical and flexible performance. It can achieve modern complex control strategies easily, such as digital PID, fuzzy control, adaptive control, etc. And it also has the following advantages: parameters can be stored and set repeatedly by PC or bus, the sensitive or critical parameters can be password-protected, it can provide special control functions according to the special requirements of users, such as special control curve, hysteresis compensation and fixed operating mode.
Base on embedded system technology solution, the electro-hydraulic proportional valve controller has excellent flexibility and reliability, high performance price ratio, powerful function, promoting the renewal of proportional valve controller product effectively, providing a high-performance proportional valve controller to industrial users.
引文
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[19]郑红梅.新型比例放大器的研究[D].辽宁:东北大学,2005.
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[22]Rick Grehan,Robert Moore,Ingo Cyllax著,许汝峰译.32位嵌入式系统编程[M].北京:中国电力出版社,2001.
[23]房建东.智能电液控制器功率驱动单元接口设计[J].机床与液压,2000(1).
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[34]杨小川.Protel DXP设计指导教程[M].北京:清华大学出版社,2003.
[35]Jobn Catsoulis著,徐君明 许铁军 黄年松译.嵌入式硬件设计[M].北京:中国电力出版社.2004.
[36]彭熙伟.流体传动与控制基础[M].北京:机械工业出版社,2005.
[37]颜河恒,王晓华,佟为明.Modbus关键技术分析及节点开发[J].现场总线与网络,2004,25(5).
[38]马忠梅.ARM嵌入式处理器结构与应用基础[M].北京:北京航空航天大学出版社,2002.
[39]章宏甲.液压传动[M].北京:机械工业出版社,2000.
[40]王守城,段俊勇.液压元件及选用[M].北京:化学工业出版社,2007.
[41]R.B.Walters.Hydraulic and electro-hydraulic control systems[M].London:Elsevier Applied Science Publishers Ltd,1991.
[42]Peter Dransfied.Hydraulic control systems design and analysis of their dynamics[M].Berlin:Sprinqer-Verlaq,1981.
[43]Peter Rohner.Industrial hydraulic control[M].[s.l.]:PRI,1986.
[2]吴根茂,邱敏秀等.新编实用电液比例技术[M].浙江:浙江大学出版社,2006.
[3]许益民.电液比例控制系统分析与设计[M].北京:机械工业出版社,2005.
[4]沈连丰,宋铁成,叶芝慧.嵌入式系统及其开发应用[M].北京:电子工业出版社,2005.
[5]周立功,张华.深入浅出ARM7-LPC213X/214X(上册)[M].北京:北京航空航天大学出版社,2005.
[6]JEAN J.LABROSSE著,邵贝贝译.μC/OS-Ⅱ--源代码公开的实时嵌入式操作系统[M].北京:中国电力出版社.2001.
[7]吴坚,赵英凯,黄玉清.计算机控制系统[M].武汉:武汉理工大学出版社,2002
[8]ON Semiconductor.UC3843 datasheet.ON Semiconductor INC,2005.
[9]马耿,张军,贾丙帅.测控系统的RS485总线研究[J].济南大学学报(自然科学版).2004,18(4).
[10]李正军.现场总线及其应用技术[M].北京:机械工业出版社,2005.
[11]阳宪惠.工业数据通讯与控制网络[M].北京:清华大学出版社,2003.
[12]任哲,潘树林,房红征.嵌入式操作系统μC/OS-Ⅱ和Linux[M].北京:北京航空航天大学出版社,2006.
[13]赵星寒,周春来,刘涛.ARM开发工具ADS原来及应用[M].北京:北京航空航天大学出版社,2006.
[14]周立功,张华.深入浅出ARM7-LPC213X/214X(下册)[M].北京:北京航空航天大学出版社,2005.
[15]童诗白,华成英.模拟电子技术基础[M].北京:高等教育出版社,2001.
[16]阎石.数字电子技术基础[M].北京:高等教育出版社,1998.
[17]李广弟,朱月秀,王秀山.单片机基础[M].北京:北京航空航天大学出版 社,2001.
[18]JEAN J.LABROSSE著,袁勤勇等译.嵌入式系统构件[M].北京:机械工业出版社,2002.
[19]郑红梅.新型比例放大器的研究[D].辽宁:东北大学,2005.
[20]石峰,曹开明.6BFK12/24型电液比例控制器的研制[J].有色金属,2000,52(3).
[21]房建东,赵于东,房建军.智能数字式电液比例控制放大器[J].机械与电子,1999(1).
[22]Rick Grehan,Robert Moore,Ingo Cyllax著,许汝峰译.32位嵌入式系统编程[M].北京:中国电力出版社,2001.
[23]房建东.智能电液控制器功率驱动单元接口设计[J].机床与液压,2000(1).
[24]李忠科,张宇,曹红松,张春飞.比例阀电子控制器的研究设计[J].轻工机械,2006,24(1).
[25]PHILIPS Semiconductors.LPC213x User Manual.PHILIPS INC,2005.
[26]王海鹰.电流型脉宽调制器的正确使用[J].电测与仪表,1999(3).
[27]朱小襄.ModBus通信协议及编程[J].电子工程师,2005,31(7).
[28]Modicon.Modbus Protocol Reference Guide.Modicon INC,1996
[29]Modbus-IDA.Modbus Application Protocol Specification V1.1b.http://www.Modbus-IDA.org,2006.
[30]Modbus-IDA.Modbus over serial line specification and implementation guide V1.02.http://www.Modbus-IDA,org,2006.
[31]ARM INC.The ARM-Thumb Procedure Call standard.ARM INC,2000.
[32]ARM INC.ARM Architecture Reference Manual.ARM INC,2000.
[33]周立功等.ARM嵌入式系统基础教程[M].北京:北京航空航天大学出版社,2005.
[34]杨小川.Protel DXP设计指导教程[M].北京:清华大学出版社,2003.
[35]Jobn Catsoulis著,徐君明 许铁军 黄年松译.嵌入式硬件设计[M].北京:中国电力出版社.2004.
[36]彭熙伟.流体传动与控制基础[M].北京:机械工业出版社,2005.
[37]颜河恒,王晓华,佟为明.Modbus关键技术分析及节点开发[J].现场总线与网络,2004,25(5).
[38]马忠梅.ARM嵌入式处理器结构与应用基础[M].北京:北京航空航天大学出版社,2002.
[39]章宏甲.液压传动[M].北京:机械工业出版社,2000.
[40]王守城,段俊勇.液压元件及选用[M].北京:化学工业出版社,2007.
[41]R.B.Walters.Hydraulic and electro-hydraulic control systems[M].London:Elsevier Applied Science Publishers Ltd,1991.
[42]Peter Dransfied.Hydraulic control systems design and analysis of their dynamics[M].Berlin:Sprinqer-Verlaq,1981.
[43]Peter Rohner.Industrial hydraulic control[M].[s.l.]:PRI,1986.