某专用车辆速度无线控制技术的研究
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摘要
随着现代自动化技术的发展,越来越多的生产设备已逐步实现自动化,特别是在高危场合,自动化技术尤其是遥控遥测手段显得尤为重要。为使工作人员远离恶劣、危险的作业环境,降低劳动强度,确保人身安全,本文对专用车辆速度的无线控制技术进行研究。
本课题在不消除专用车辆原先手控能力的基础上,实现其遥控和手控并用,使远离车辆的工作人员,利用遥控装置,实现对行驶中车辆车速的控制。车辆变速系统的液压油源系统中,换档机构的选档和换档液压缸采用电磁换向阀,实现对开关量的控制,油门伺服液压缸中使用高速电磁开关阀,实现对模拟量的控制。这两种阀都不需要A/D与D/A转换,所产生的数字开关信号可以直接转换成流体脉冲信号,实现了计算机控制技术和液压流体技术的有机结合。电控部分,以单片机AT89S52和无线收发芯片nRF2401为核心,用无线射频技术实现对车速的无线遥控。对自行开发设计的硬件电路采取必要的抗干扰措施,提高了系统的可靠性。文中对系统软件部分也做了说明并用单片机和无线收发芯片做了无线射频实验,对数据无线收发系统抗突发错误能力进行分析,根据油门伺服系统的数学模型得到相应的仿真曲线,对油门闭环控制器中使用的A/D转换器,做了仿真实验。
实验和仿真结果表明:无线数据收发系统可以用于工业控制,且抗突发错误的能力比较强,油门伺服系统稳定性良好,数据采集系统可靠性较高。
With the development of communication technology, wireless control technology has been widely adopted in mechanical engineering and is mainly applied in complex working condition and great labor-intensive occasions, Therefore researches on wireless control technology for special vehicles have practical significance.
This paper consists of six chapters; the first chapter gives a brief introduction of home and aboard wireless control technology for special vehicle and the main content of this paper.
In second chapter, the mechanical parts of special vehicle are separately designed. This paper focused on velocity wireless control technology for special vehicle without eliminating original manual control; achieve wireless control of speed through a remote device held by staffs away from the vehicle. To make the speed control of special vehicles rapid, accurate and reliable, so single-chip microcomputer is chosen as the core of the wireless control system. In the design of hydraulic oil system of vehicle speeder system, the high-speed switch valve is defined as implemental devices of electro-hydraulic conversion in throttle servo system, while the magnetic exchange valve is applied in gearshift devices. More importantly, these two valves are fit to connect single-chip microcomputer. Through the design of hydraulic oil system, the valves separately encode combinations to prepare for the wireless control of corresponding action of devices. Operators monitor the control platform screen which shows the driving environment captured by image acquisition device on vehicle. and then,according to the information obtained from the screen, remote driving control commands are sent by operators through remote controller to adjust the speed in time, so that vehicle can move as commands demand. This is the basic process of velocity remote control. Remote control commands are composed of two parts: The first, gearshift commands .The second, speeded up or down commands by throttle opening control.
Analog variables are conducted to control throttle hydraulic cylinder, while the high-speed electromagnetic valve is used to achieve electro-hydraulic conversion. This paper introduces the principle of PWM and the PWM control of the high-speed electromagnetic valve, Numerical model of high-speed switching valve is built. Based on the analysis of the numerical model, main influence factors on spool valve are briefly discussed. Throttle servo system of the numerical model is built.
The third Chapter is mainly about the design wireless control system, which includes the selection of the single-chip microcomputer (SCM). There are main principles of choice: first, the SCM should have a stronger anti-disturb ability. Since the wretched operating condition of the controlled vehicles, as well as the complex practical operating mode, are making important roles to disturb the SCM, so the selection of the SCM should adopt the types that have higher anti-disturb capability. The other one is higher performance-price ratio. The system selects the AT89S52 as the controller of the SCM finally. Then selection of the wireless module, because working conditions of the wireless vehicles are wretched, it demands a higher reliability of the data transmission. According to the transmission velocity, peripheral elements, power dissipation, and emission power synthetically, finally, the nRF2401 is selected as the core-chip of the wireless data transmission module. In addition, AD1674 is selected as the A/D transformer and is introduced particularly, and SPI interface is adopted as the connection of the SCM AT89S52 and nRF2401, the characteristics of this connect mode are that it could hand out the high effect of SPI interface, the advantage of the nRF2401 on the high velocity wireless transmission and the huge data throughput. The CUP only need input the data to SPI memory, and then could execute the other processes, it is unnecessary to emission the data for simulate the time-order and waste the CUP valuable time. But the error will be produced in the processing of SPI data transmitting, if the CUP initializes the nRF2401 by the SPI method directly, the success of the initialization will be lower, which possibly lead to the fail of data transmission. The solution of this problem is simulating 10k resistance connect the SPI interface when the hard ware circuit is designed, and the other end of the resistance connect the DATA port of the nRF2401, through which the resistance matching and isolation be achieved. The configure success ratio of the nRF2401 and velocity of the system data transmission will enhanced observably by adopting this interface method. The circuit, in paper, is introduced particularly in the hardware circuit design. It includes the interface circuit of the AT89S52 and nRF2401, interface circuit of the AT89S52 and AD1674, magnifying circuit of the magnet power, circuit of the proportional valve power magnifying and chopper steady flow, magnifying circuit of simulated signal; design of SCM replacement circuit; design of the keyboard circuit and adjusting circuit; design of the power circuit. Aside, some anti-disrupt measure on the hardware aspect are adopted.
The forth chapter introduces the design of the software of the special vehicles wireless control system. The shifting process of the special vehicles can be divided into six steps: (1) Running at the original gear in pre-shift. (2) Diminutus accelerograph and separate the clutch. (3) Neutral position. (4) Shifting. (5) Join the clutch and accelerating. (6) Running at new gear. In order to shift smoothly, the compilation of (2)～(5) steps are the main jobs of the software design. The flows of the programs which relate to wireless data sending and receiving on the nRF2401 wireless transceiver are drawn respectively, and the program is compiled by C language.
The fifth chapter is about the experiment and simulation. Firstly, Test the wireless communication is carried out. The test showed a data transmission distance of 160 meters. So, the system can be applied in the industry. After further analysis of the system error, the wireless radio frequency system shows a strong anti-error ability in burst. Secondly, the corresponding study of throttle servo system, a closed-loop system, is carried out.
Simulation model of hydraulic throttle position servo system is set up by using MATLAB/SIMULINK software, through which a set of control parameters are determined by adjusting PID control module. Results show that (1) the control system has a good stability without any jitter and over-control phenomenon; (2) response time is about 0.5s; (3) there is a static error between maximum and minimum value, but within the scope of 5%. Finally, The A/D transportation system is simulated by using the SCM simulating software of proteus, and the result shows that the oscillogram of the simulation data on oscilloscope and the real data collected are same , which test and verify the reliability of the A/D transportation system in the data acquisition system.
The sixth chapter gives the conclusion and prospect of the research. The main contents in the thesis are detailed summarized. The paper focuses on the technology of the special velocity wireless control, and makes the SCM as the heart of the wireless control system research. The operating system also includes turning and other functions in practical use, which are fresh research hotspot nowadays. Meanwhile, the improvement of the data transmission velocity and reliability are of practical significance.
本课题在不消除专用车辆原先手控能力的基础上,实现其遥控和手控并用,使远离车辆的工作人员,利用遥控装置,实现对行驶中车辆车速的控制。车辆变速系统的液压油源系统中,换档机构的选档和换档液压缸采用电磁换向阀,实现对开关量的控制,油门伺服液压缸中使用高速电磁开关阀,实现对模拟量的控制。这两种阀都不需要A/D与D/A转换,所产生的数字开关信号可以直接转换成流体脉冲信号,实现了计算机控制技术和液压流体技术的有机结合。电控部分,以单片机AT89S52和无线收发芯片nRF2401为核心,用无线射频技术实现对车速的无线遥控。对自行开发设计的硬件电路采取必要的抗干扰措施,提高了系统的可靠性。文中对系统软件部分也做了说明并用单片机和无线收发芯片做了无线射频实验,对数据无线收发系统抗突发错误能力进行分析,根据油门伺服系统的数学模型得到相应的仿真曲线,对油门闭环控制器中使用的A/D转换器,做了仿真实验。
实验和仿真结果表明:无线数据收发系统可以用于工业控制,且抗突发错误的能力比较强,油门伺服系统稳定性良好,数据采集系统可靠性较高。
With the development of communication technology, wireless control technology has been widely adopted in mechanical engineering and is mainly applied in complex working condition and great labor-intensive occasions, Therefore researches on wireless control technology for special vehicles have practical significance.
This paper consists of six chapters; the first chapter gives a brief introduction of home and aboard wireless control technology for special vehicle and the main content of this paper.
In second chapter, the mechanical parts of special vehicle are separately designed. This paper focused on velocity wireless control technology for special vehicle without eliminating original manual control; achieve wireless control of speed through a remote device held by staffs away from the vehicle. To make the speed control of special vehicles rapid, accurate and reliable, so single-chip microcomputer is chosen as the core of the wireless control system. In the design of hydraulic oil system of vehicle speeder system, the high-speed switch valve is defined as implemental devices of electro-hydraulic conversion in throttle servo system, while the magnetic exchange valve is applied in gearshift devices. More importantly, these two valves are fit to connect single-chip microcomputer. Through the design of hydraulic oil system, the valves separately encode combinations to prepare for the wireless control of corresponding action of devices. Operators monitor the control platform screen which shows the driving environment captured by image acquisition device on vehicle. and then,according to the information obtained from the screen, remote driving control commands are sent by operators through remote controller to adjust the speed in time, so that vehicle can move as commands demand. This is the basic process of velocity remote control. Remote control commands are composed of two parts: The first, gearshift commands .The second, speeded up or down commands by throttle opening control.
Analog variables are conducted to control throttle hydraulic cylinder, while the high-speed electromagnetic valve is used to achieve electro-hydraulic conversion. This paper introduces the principle of PWM and the PWM control of the high-speed electromagnetic valve, Numerical model of high-speed switching valve is built. Based on the analysis of the numerical model, main influence factors on spool valve are briefly discussed. Throttle servo system of the numerical model is built.
The third Chapter is mainly about the design wireless control system, which includes the selection of the single-chip microcomputer (SCM). There are main principles of choice: first, the SCM should have a stronger anti-disturb ability. Since the wretched operating condition of the controlled vehicles, as well as the complex practical operating mode, are making important roles to disturb the SCM, so the selection of the SCM should adopt the types that have higher anti-disturb capability. The other one is higher performance-price ratio. The system selects the AT89S52 as the controller of the SCM finally. Then selection of the wireless module, because working conditions of the wireless vehicles are wretched, it demands a higher reliability of the data transmission. According to the transmission velocity, peripheral elements, power dissipation, and emission power synthetically, finally, the nRF2401 is selected as the core-chip of the wireless data transmission module. In addition, AD1674 is selected as the A/D transformer and is introduced particularly, and SPI interface is adopted as the connection of the SCM AT89S52 and nRF2401, the characteristics of this connect mode are that it could hand out the high effect of SPI interface, the advantage of the nRF2401 on the high velocity wireless transmission and the huge data throughput. The CUP only need input the data to SPI memory, and then could execute the other processes, it is unnecessary to emission the data for simulate the time-order and waste the CUP valuable time. But the error will be produced in the processing of SPI data transmitting, if the CUP initializes the nRF2401 by the SPI method directly, the success of the initialization will be lower, which possibly lead to the fail of data transmission. The solution of this problem is simulating 10k resistance connect the SPI interface when the hard ware circuit is designed, and the other end of the resistance connect the DATA port of the nRF2401, through which the resistance matching and isolation be achieved. The configure success ratio of the nRF2401 and velocity of the system data transmission will enhanced observably by adopting this interface method. The circuit, in paper, is introduced particularly in the hardware circuit design. It includes the interface circuit of the AT89S52 and nRF2401, interface circuit of the AT89S52 and AD1674, magnifying circuit of the magnet power, circuit of the proportional valve power magnifying and chopper steady flow, magnifying circuit of simulated signal; design of SCM replacement circuit; design of the keyboard circuit and adjusting circuit; design of the power circuit. Aside, some anti-disrupt measure on the hardware aspect are adopted.
The forth chapter introduces the design of the software of the special vehicles wireless control system. The shifting process of the special vehicles can be divided into six steps: (1) Running at the original gear in pre-shift. (2) Diminutus accelerograph and separate the clutch. (3) Neutral position. (4) Shifting. (5) Join the clutch and accelerating. (6) Running at new gear. In order to shift smoothly, the compilation of (2)～(5) steps are the main jobs of the software design. The flows of the programs which relate to wireless data sending and receiving on the nRF2401 wireless transceiver are drawn respectively, and the program is compiled by C language.
The fifth chapter is about the experiment and simulation. Firstly, Test the wireless communication is carried out. The test showed a data transmission distance of 160 meters. So, the system can be applied in the industry. After further analysis of the system error, the wireless radio frequency system shows a strong anti-error ability in burst. Secondly, the corresponding study of throttle servo system, a closed-loop system, is carried out.
Simulation model of hydraulic throttle position servo system is set up by using MATLAB/SIMULINK software, through which a set of control parameters are determined by adjusting PID control module. Results show that (1) the control system has a good stability without any jitter and over-control phenomenon; (2) response time is about 0.5s; (3) there is a static error between maximum and minimum value, but within the scope of 5%. Finally, The A/D transportation system is simulated by using the SCM simulating software of proteus, and the result shows that the oscillogram of the simulation data on oscilloscope and the real data collected are same , which test and verify the reliability of the A/D transportation system in the data acquisition system.
The sixth chapter gives the conclusion and prospect of the research. The main contents in the thesis are detailed summarized. The paper focuses on the technology of the special velocity wireless control, and makes the SCM as the heart of the wireless control system research. The operating system also includes turning and other functions in practical use, which are fresh research hotspot nowadays. Meanwhile, the improvement of the data transmission velocity and reliability are of practical significance.
引文
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[2]孙晋文.智能运输系统与汽车的智能化技术.汽车研究与开发[J],2000(3):15-16.
[3] D.汤姆森,V.阿特肯,张钦礼.矿山设备遥控技术的发展[J].世界采矿快报,1998,14(11):42-47.
[4]曲道奎,张念哲.机器人技术的新发展.2002(3):25-26.
[5]吕广明,陆念力,古秀川.液压挖掘机工装轨迹的PID仿真技术[J].建筑机械化,2005,(4):29-31.
[6]车仁炜,吕广明,陆念力.液压挖掘机自动控制中的抗干扰设计[J].建筑机械化,2005,(3):21-23.
[7] C.Thorpe.Vision and Navigation.The Carnegie Mellon Navlab:Kluwer Academic Publisher,1990,128-163.
[8] M.Bertozzi,A.Broggi,A.Fascioli.Vision-based Intelligent Vehicles.State of the Art and Perspectives:Robotics and Autonomous System,2000,1-16.
[9]梁斌,工巍,工存恩.为了我国发展月球车的初步构想[J].中国航天,2003(1):29-33.
[10]甘盛俊,李印海,肖占中.机器人部队与无人战争[J],2003(4):9-12.
[11] Howard,H.Seraji.Real-time Assessment of Terrain Travels-ability for Autonomous Rover Navigation.In Proceeding of the IEEE IROS.2000,925-930.
[12]林学东.现代汽车动力传动装置的控制技术[M].北京:北京理工大学出版社,2003,10.
[13]雷天觉.液压工程手册[M].北京:机械工程出版社,1990.
[14]冯开林等.遥控工程机械液压系统设计方法研究[M].机床与液压,2001(4):13-15.
[15]何忠波,陈慧岩,陶刚,吴绍斌,刘溧.履带式遥控车辆自动驾驶控制系统的研制[J].微机应用与智能化,2003,10.
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