CN105676728A - DSP-based automatic control system hardware platform of bridge-type crane - Google Patents
DSP-based automatic control system hardware platform of bridge-type crane Download PDFInfo
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- CN105676728A CN105676728A CN201610016151.5A CN201610016151A CN105676728A CN 105676728 A CN105676728 A CN 105676728A CN 201610016151 A CN201610016151 A CN 201610016151A CN 105676728 A CN105676728 A CN 105676728A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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- G05B2219/25314—Modular structure, modules
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Abstract
A DSP-based automatic control system hardware platform of a bridge-type crane comprises a DPS control module, a signal generating module, two signal isolating modules, a relay module, a sensor module, a wireless communication module and a power supply module. The DSP control module and the signal generating module can generate a pulse signal of a needed frequency as a control signal of the crane. One of the two signal isolating modules separates the relay module from the DSP control module, and the other signal isolating module separates the signal generating module from a controlled target. The sensor module can measure the position of the crane, the swing angle of a lifting rope, and the rotational speed of a motor. The DSP control module carries out data interaction with the sensor module and a host computer through the wireless communication module. The platform uses a control program and communication protocols developed on the DSP control module, achieves remote control of the bridge-type crane, and realizes swinging eliminating and positioning control of the bridge-type crane based on track planning. Experiment results indicate that the platform can obtain good control effect and has high practical application value.
Description
Technical field
The invention belongs to the technical field that non-linear drive lacking Mechatronic Systems automatically controls, particularly relate to a kind of overhead crane automatic control system hardware platform based on DSP.
Background technology
Overhead crane is a kind of relatively common assembling means of transport, and its frame for movement mainly includes cart, dolly and three parts of suspension hook that hoist, and is generally driven by alternating current generator. Crane Factory Building in standard, they are by frame on higher spandrel girder, and cart track along spandrel girder moves, and dolly track along cart moves, hoist engine on dolly can make suspension hook hoist or decline such that it is able to by the optional position of goods handling to three-dimensional working space. Little owing to being taken up an area space aloft by frame, work space is big, and load capacity is strong, flexible operation, is therefore widely used in industrial various aspects. Main application fields includes the fields such as automobile manufacture industry, metallurgy industry, machinery industry, logistics transportation industry, aerospace field and the handling of dangerous goods automatization.
Overhead crane belongs to typical drive lacking Mechatronic Systems, cart, dolly athletic meeting cause the swing of load, especially, when heavier loads or volume are bigger, it is easy to collide with the goods of surrounding or workman, cargo damage is caused even to jeopardize workman's life security. When transporting goods and arriving appointment position, the swing of suspension hook not only can bring potential safety hazard, is also substantially reduced because the swing of load makes to transport efficiency simultaneously. Current almost all of overhead crane all manually operates, and not only efficiency is low, and is susceptible to maloperation, causes that security incident occurs often. When manual operation crane, do not require nothing more than and goods is transported to fast and accurately appointment position, also effectively to reduce the swing of load, especially to reduce the Residual oscillations time, thus improving the speed transporting goods. In practical work environment, these requirements to be reached and rely primarily on experienced workman and estimate crane position with eyes, and the experience that relies on reduces the swing of load in operating process, and then realize " quickly disappear pendulum " to crane and position control. This place one's entire reliance upon that there are the following problems in artificial operation:
1) transport inefficient
2) safety coefficient is relatively low, it is easy to contingency occurs
3) positioning precision of crane is not high enough, will realize being accurately positioned extremely difficult, therefore seriously hinder the application that manual mode of operation requires the field of higher positioning accuracy in nuclear industry etc.
For these reasons, the automatic control technology of overhead crane has been carried out research extensively and profoundly by Chinese scholars[1～2], result of study shows, by methods such as the trajectory planning of design and system support and high performance controllers, it is possible to realize cart, the quickly location of dolly and effectively suppressing load pivot angle. By the robotics being widely used by now[3～5]Inspiration, if it is contemplated that robotics and automatic control technology are fully combined, being applied to bridge type crane system together, then can realize the remote auto to crane and control, this is for liberation labour force, improves the processing safety of crane, accuracy and transport efficiency and is significant.
Dsp chip is a kind of microprocessor adopting Harvard structure, and its program and data are stored separately, it is possible to access instruction and data simultaneously. It has special hardware multiplier, and adopts instruction flow line technology, it is possible to complete a multiplication and a sub-addition within the monocycle, it is possible to realize various digital signal processing algorithm rapidly. Dsp chip is integrated with multiple peripheral hardware and interface, it is possible to meet the interface requirement of most sensor, and the control to motor, converter etc. can be realized easily.
Summary of the invention
It is an object of the invention to transport efficiency for existing overhead crane manual mode of operation and safety coefficient is low, the problems such as positioning precision is not high, to automatically control, the technology such as industrial robot is applied to bridge type crane system, uses dsp chip to develop overhead crane automatic control system hardware platform safely and efficiently as main control chip.
This invention address that the hardware platform developing complete set, disclosure satisfy that the control requirement of the AC motor system with converter, it is thus possible to by laboratory design and on half crane platform in kind authenticated control method be applied on crane material object, overhead crane control method is made further improvement, and it is applied in the commercial production of reality, finally can liberate labour force, improve the transport efficiency of crane, positioning precision and safety coefficient.
Overhead crane automatic control system hardware platform based on DSP provided by the invention includes DSP control module, signal generating module, two block signal isolation modules, relay module, sensor assembly and wireless communication module and power module; Described sensor assembly includes two some laser, an Inertial Measurement Unit (inertialmeasurementunit, IMU) and No. three encoders; As shown in Figure 1, DSP control module connects relay module by the first signal isolation module 1, the first signal isolation module 1 encoder simultaneously and in sensor assembly connects, DSP control module connects the IMU in host computer and sensor assembly simultaneously by wireless communication module, and be joined directly together with the some laser in sensor assembly and secondary signal isolation module 2, secondary signal isolation module 2 is connected with signal generating module simultaneously.
In two some laser, the point laser measuring big truck position is called cart point laser, the point laser measuring little truck position is called dolly point laser, as shown in Figure 9, two some laser are all arranged on one end of overhead crane cart, and reflector of arranging in pairs or groups, wherein the reflector of cart point laser is fixed on the enclosure wall of Factory Building side, the reflector of dolly point laser is fixed on dolly side, at cart, dolly place plane sets up coordinate system, the position of reflector is got to for zero point with cart point laser, cart running orbit place straight line is called X-axis, trolley travelling track place straight line is called Y-axis, cart, dolly all runs and not over this scope at first quartile, therefore cart point laser is crane X-axis coordinate to the distance of reflector on enclosure wall, the i.e. position of cart, dolly point laser is Y-axis coordinate to the distance of reflector on dolly, the i.e. position of dolly, IMU is arranged on suspension hook, and it can measure the pivot angle information of lifting rope, No. three encoders are separately mounted on dolly, cart and three motors of lifting, and they can measure the rotary speed information of three motors.
Described power module includes interior power supply and two pieces of direct-current switch power supplies of external power, and every block power supply all has three terminals of 5V, 12V and 24V, and input voltage is 220V, and rated power is 120W; Interior power supply is for DSP control module, signal generating module, two block signal isolation modules, two some laser and wireless communication module power supply, and external power is for powering to relay module and two block signal isolation modules.
By described DSP control module, signal generating module, two block signal isolation modules and relay module composition control circuit, in control circuit, the part powered by described interior power supply is called control circuit internal circuit, the part powered by described external power is called control circuit external circuit, the internal signal of this two parts circuit respectively altogether and with power supply each other separate, use optocoupler by two parts power supply inside described two block signal isolation modules separately.
The main control chip of described DSP control module is DSP28335, companion chip is the FPGA of CycloneII model, it is powered by interior power supply 12V end, external interface includes the DSP28335 7 tunnel pulse width modulation (pulsewidthmodulation carried, PWM) ripple interface, 3 road serial ports and 2 road controller local area network (controllerareanetwork, CAN) interface, DSP program includes realizing the communication protocol program mutual with host computer, process the program of sensor die blocks of data and realize the program of control algolithm, FPGA program can process maximum 7 road code device signals, 7 road limit signals, and maximum 7 road motor positive and inverse signals can be produced, bus clock mode is adopted to connect between DSP and FPGA.
The main control chip of described signal generating module is DSP2812, interior power supply 5V end be powered, for producing the pwm control signal of the fixed frequency needed.
Described two block signal isolation modules, the first signal isolation module 1 is powered by interior power supply 5V end and external power 12V end, and secondary signal isolation module 2 is powered by interior power supply 5V end and external power 24V end; Two block signal isolation modules are respectively used to the pwm control signal needed, motor positive and inverse signal and limit signal are carried out differential filtering and light-coupled isolation, and can strengthen the driving force of pwm signal, motor positive and inverse signal.
Described relay module is powered by external power 5V end and 24V end respectively, 5V end is control signal input, 24V end is control signal outfan, motor positive and inverse signal input relay module after the first signal isolation module 1 that DSP control module produces, for controlling switching on and off of the normally-open normally-close terminal of 24V end, and then control motor positive and inverse by external power 24V voltage signal;
Described wireless communication module is low-frequency wireless module, interface is RS232, metrical information can be sent to described DSP control module by wireless communication module by the IMU in described sensor assembly, and described DSP control module can utilize wireless communication module to realize the real-time, interactive with host computer, it is able to receive that control command the response of host computer, and by the status information Real-time Feedback of crane to host computer;
The pwm control signal that described DSP control module produces is by controlling motor speed after described first signal isolation module 1, the motor positive and inverse signal that described DSP control module produces is by controlling motor positive and inverse after described first signal isolation module 1 and relay module, described DSP control module by described two block signal isolation module collections need limit signal and code device signal, store in corresponding DSP register after the process of DSP control module peripheral circuit and FPGA program;
The control signal that described hardware platform adopts is PWM ripple, it is possible to be applied in the crane system of all use converters, and different control programs can be used to realize different control effects;
The described Hardware platform design communication protocol mutual with host computer of complete set, has the fault-tolerant design to unexpected situation, it is possible to ensure the correct transmission of data and the timely feedback to overhead crane control order; This communication protocol mainly includes following two parts:
1) host computer actively issues the order of DSP control module, including: position control command frame, elevating control command frame, emergency brake command frame and reset command frame; Wherein position control order and elevating control order all use exclusive or check to ensure the accuracy of data;
2) DSP control module actively issues the order of host computer, including: acknowledgement frame, crane position configuration state frame and suspension hook real-time status frame; Wherein acknowledgement frame adopts exclusive or check to ensure the accuracy of data; Acknowledgement frame is specifically divided into again: position control order accurately receives frame, elevating control order accurately receives frame, position control order completes frame, elevating control order completes frame, control command receives mistake or control command is not fully complete frame, emergency brake command completes frame, reset command completes frame and crane hands auto state frame;
Hardware platform of the present invention adopts low-frequency wireless module to carry out radio communication, it is possible to meets that crane scene is complicated and changeable, often have object to block, the communicating requirement of panel and host computer communication distance working environment farther out; Adopt some laser sensor to measure crane position in real time, the positioning precision of crane can be made to reach ± 5mm.
Hardware platform of the present invention uses fpga chip that DSP is carried out Function Extension, it is possible to process maximum 7 road code device signals simultaneously; Described control circuit internal circuit is isolated by use optocoupler with control circuit external circuit and controlled device, to reduce the interference to control circuit internal circuit signal of the controlled device signal of telecommunication.
Advantages of the present invention and beneficial effect
The present invention is directed to overhead crane manual mode of operation and transport the problems such as inefficient, to be susceptible to contingency and crane positioning precision is high not, devise a kind of overhead crane automatic control system hardware platform based on DSP. specifically, it is exactly will automatically control to be applied to bridge type crane system with technology such as industrial robots, dsp chip is used to develop a set of automatic control system hardware platform of overhead crane safely and efficiently as main control chip, it disclosure satisfy that the control requirement of the AC motor system with converter, it is thus possible to by laboratory design and on half crane platform in kind authenticated control method be applied on crane material object, overhead crane control method is made further improvement, and it is applied in the commercial production of reality, finally can liberate labour force, improve the transport efficiency of crane, positioning precision and safety coefficient. finally, by testing on overhead crane material object platform, effectiveness of the invention is demonstrated.
Accompanying drawing illustrates:
Fig. 1 is overhead crane automatic control system hardware platform structured flowchart;
Fig. 2 is DSP control module structured flowchart;
Fig. 3 is signal generating module structured flowchart;
Fig. 4 is the first signal isolation module 1 structured flowchart;
Fig. 5 is secondary signal isolation module 2 structured flowchart;
Fig. 6 is for controlling program circuit Fig. 1;
Fig. 7 is for controlling program circuit Fig. 2;
Fig. 8 is FPGA program structure diagram;
Fig. 9 is a laser installation site schematic diagram.
Detailed description of the invention:
Embodiment 1:
In order to better illustrate the feature of the overhead crane automatic control system hardware platform based on DSP, below in conjunction with accompanying drawing and embodiment, the workflow of this platform is described further.
It is a kind of overhead crane automatic control system hardware platform structured flowchart based on DSP of designing of the present invention as shown in Figure 1, this hardware platform includes DSP control module, signal generating module, two block signal isolation modules, relay module, sensor assembly and wireless communication module and power module 7 part as seen from the figure, and described sensor assembly includes two some laser, an IMU and No. three encoders. Two class arrows in figure represent that power supply relation and signal flow to respectively, wherein DSP control module connects relay module by the first signal isolation module 1, first signal isolation module 1 connects with encoder simultaneously, DSP control module connects IMU and host computer simultaneously by wireless communication module, and be joined directly together with a laser and secondary signal isolation module 2, secondary signal isolation module 2 is connected with signal generating module simultaneously.
In figure, host computer can be the man-machine interactive system arbitrarily satisfied condition, and condition is the communication protocol that this system supports this Platform Designing, therefore indicates in structured flowchart that host computer is that it is not within the scope of the invention for the convenient workflow that platform is described; Same reason, because the control object that this hardware platform is suitable for is that converter adds AC motor system, so control signal is eventually given in converter, converter is also for the convenient workflow that platform is described herein, it is below not repeated explanation not within the scope of the invention.
The model of two some laser in described sensor assembly is LT30H1TQ, and we call cart point laser the laser wherein measuring big truck position, and the laser measuring little truck position is called dolly point laser. As it is shown in figure 9, two some laser is all arranged on one end of overhead crane cart reflector of arranging in pairs or groups, wherein the reflector of cart point laser is fixed on the enclosure wall of Factory Building side, and the reflector of dolly point laser is fixed on dolly side. Coordinate system is set up in cart, dolly place plane, the position of reflector is got to for zero point with cart point laser, cart running orbit place straight line is called for X-axis, trolley travelling track place straight line is called Y-axis, cart, dolly all run and not over this scope at first quartile, and therefore cart point laser is crane X-axis coordinate, the i.e. position of cart to the distance of reflector on enclosure wall, dolly point laser is Y-axis coordinate to the distance of reflector on dolly, i.e. the position of dolly. IMU is arranged on suspension hook, and it can measure the pivot angle information of lifting rope, and No. three encoders are separately mounted on dolly, cart and three motors of lifting, and they can measure the rotary speed information of three motors.
Described power module includes interior power supply and two pieces of direct-current switch power supplies of external power, and every block power supply all has three terminals of 5V, 12V and 24V, and input voltage is 220V, and rated power is 120W; Interior power supply is for DSP control module, signal generating module, two block signal isolation modules, two some laser and wireless communication module power supply, and external power is for powering to relay module and two block signal isolation modules.
By described DSP control module, signal generating module, two block signal isolation modules and relay module composition control circuit, in control circuit, the part powered by described interior power supply is called control circuit internal circuit, the part powered by described external power is called control circuit external circuit, the internal signal of this two parts circuit respectively altogether and with power supply each other separate, use optocoupler by two parts power supply inside described two block signal isolation modules separately.
As in figure 2 it is shown, the main control chip of described DSP control module is DSP28335, companion chip is the FPGA of CycloneII model, interior power supply 12V end be powered, and external interface includes DSP28335 7 road PWM ripple interfaces, 3 road serial ports and the 2 road CAN interface carried. DSP program includes realizing the communication protocol program mutual with host computer, processes the program of sensor die blocks of data and realizes the program of control algolithm. As shown in Figure 8, FPGA program can process maximum 7 road code device signals, 7 road limit signals, and can produce maximum 7 road motor positive and inverse signals. Bus clock mode is adopted to connect between DSP and FPGA;
As it is shown on figure 3, the main control chip of described signal generating module is DSP2812, interior power supply 5V end it is powered, for producing the pwm control signal of the fixed frequency needed.
As shown in Figure 4 and Figure 5, signal has all been carried out differential filtering with comparator by the inside of described two block signal isolation modules respectively, and use up symplectic signal and isolated, the effect of optocoupler includes the driving force strengthening pwm signal and motor positive and inverse signal, optocoupler two end signal is isolated, reduces the interference to control circuit signal of the controlled device signal simultaneously.
The work process of hardware platform provided by the invention is as follows:
When hardware platform works, DSP control module program can monitor whether there is new control command in real time, namely the serial ports in Fig. 6 receives and interrupts circulation, after DSP control module receives new control command by wireless communication module, can resolve according to the communication protocol (referring to Summary) of design, after accurate, enter the order execution stage.
Stopping to receive and parse through the data of a laser and IMU in major cycle, then correct data are stored in data buffer zone, its midpoint laser is joined directly together by serial ports and DSP control module, and IMU is indirectly connected to by wireless communication module and DSP control module. The order execution stage completes in timer interruption as shown in Figure 7. In timer interruption circulates, DSP control module program can judge whether data buffer zone updates interval regular time, then resolution data return crane state. After entering timer interruption each time, program all can viewing command relief area, if there being new order, call corresponding control algolithm control crane.
Code device signal needs after the first signal isolation module 1, enter back into DSP control module to be processed by FPGA program, limit signal need to enter back into DSP control module after secondary signal isolation module 2, and both information is all stored in DSP internal memory to wait routine call. Pwm signal and motor positive and inverse control signal that DSP control module produces are both needed to after the first signal isolation module 1 could converter be controlled. Converter could need to be controlled by the pwm signal that signal generating module produces after secondary signal isolation module 2. So far, send instruction from host computer to DSP control module, accurately receive to DSP control module, feed back in time and perform, complete a secondary control process.
In the running of this platform, DSP control module can ceaselessly receive the information of three kinds of sensors (some laser, IMU and encoder) and process, coordinate the control command that host computer is sent, it is possible to accomplish to be automatically performed control program, Real-time Feedback crane state and the timely process to fortuitous event.
It is emphasized that, the selection range of control program is not limited in the content controlling program circuit as shown in Figure 7, user according to practical situation, can increase other control algolithm that arbitrarily can realize with speed control mode, this considerably increases the use scope of this hardware platform.
List of references
[1] Ma Bojun. the non-linear overhead crane automatic control system research of drive lacking: [Ph.D. Dissertation]. Tianjin: Nankai University, 2009.
[2] Sun Ning. drive lacking crane trajectory planning and non-linear control strategy design and analysis and application: [Ph.D. Dissertation]. Tianjin: Nankai University, 2014.
[3]AoyamaT,HasegawaY,SekiyamaK,FukudaT.Stabilizinganddirectioncontrolofefficient3-DbipedwalkingbasedonPDAC.IEEE/ASMETrans-actionsonMechatronics,2009,14(6):712–718.
[4]YuJ,WangM,TanM,ZhangJ.Three-dimensionalswimming.IEEERoboticsandAutomationMagazine,2011,18(4):47–58.
[5]BeardR,KingstonD,QuigleyM,SnyderD,ChristiansenR,JohnsonW,McLainT,GoodrichMA.Autonomousvehicletechnologiesforsmallfixed-wingUAVs.JournalofAerospaceComputing,Information,andCommunication,2005,2(1):92–108。
Claims (8)
1. the overhead crane automatic control system hardware platform based on DSP, it is characterised in that include DSP control module, signal generating module, two block signal isolation modules, relay module, sensor assembly and wireless communication module and power module; Described sensor assembly includes two some laser, an Inertial Measurement Unit (inertialmeasurementunit, IMU) and No. three encoders; DSP control module connects relay module by the first signal isolation module 1, the first signal isolation module 1 encoder simultaneously and in sensor assembly connects, DSP control module connects the IMU in host computer and sensor assembly simultaneously by wireless communication module, and be joined directly together with the some laser in sensor assembly and secondary signal isolation module 2, secondary signal isolation module 2 is connected with signal generating module simultaneously;
In two some laser, the point laser measuring big truck position is called cart point laser, the point laser measuring little truck position is called dolly point laser, two some laser are all arranged on one end of overhead crane cart, and reflector of arranging in pairs or groups, wherein the reflector of cart point laser is fixed on the enclosure wall of Factory Building side, the reflector of dolly point laser is fixed on dolly side, at cart, dolly place plane sets up coordinate system, the position of reflector is got to for zero point with cart point laser, cart running orbit place straight line is called X-axis, trolley travelling track place straight line is called Y-axis, cart, dolly all runs and not over this scope at first quartile, therefore cart point laser is crane X-axis coordinate to the distance of reflector on enclosure wall, the i.e. position of cart, dolly point laser is crane Y-axis coordinate to the distance of reflector on dolly, the i.e. position of dolly, IMU is arranged on suspension hook, and it can measure the pivot angle information of lifting rope, No. three encoders are separately mounted on dolly, cart and three motors of lifting, and they can measure the rotary speed information of three motors,
Described power module includes interior power supply and two pieces of direct-current switch power supplies of external power, and every block power supply all has three terminals of 5V, 12V and 24V, and input voltage is 220V, and rated power is 120W; Interior power supply is for DSP control module, signal generating module, two block signal isolation modules, two some laser and wireless communication module power supply, and external power is for powering to relay module and two block signal isolation modules;
By described DSP control module, signal generating module, two block signal isolation modules and relay module composition control circuit, in control circuit, the part powered by described interior power supply is called control circuit internal circuit, the part powered by described external power is called control circuit external circuit, the internal signal of this two parts circuit respectively altogether and with power supply each other separate, use optocoupler by two parts power supply inside described two block signal isolation modules separately.
2. the overhead crane automatic control system hardware platform based on DSP according to claim 1, it is characterized in that, the main control chip of described DSP control module is DSP28335, companion chip is the FPGA of CycloneII model, it is powered by interior power supply 12V end, external interface includes the DSP28335 7 tunnel pulse width modulation (pulsewidthmodulation carried, PWM) ripple interface, 3 road serial ports and 2 road controller local area network (controllerareanetwork, CAN) interface, DSP program includes realizing the communication protocol program mutual with host computer, process the program of sensor die blocks of data and realize the program of control algolithm, FPGA program can process maximum 7 road code device signals, 7 road limit signals, and maximum 7 road motor positive and inverse signals can be produced, bus clock mode is adopted to connect between DSP and FPGA,
The main control chip of described signal generating module is DSP2812, interior power supply 5V end be powered, for producing the pwm control signal of the fixed frequency needed;
Described two block signal isolation modules, the first signal isolation module 1 is powered by interior power supply 5V end and external power 12V end, and secondary signal isolation module 2 is powered by interior power supply 5V end and external power 24V end; Two block signal isolation modules are respectively used to the pwm control signal needed, motor positive and inverse signal and limit signal are carried out differential filtering and light-coupled isolation, and can strengthen the driving force of pwm signal, motor positive and inverse signal;
Described relay module is powered by external power 5V end and 24V end respectively, 5V end is control signal input, 24V end is control signal outfan, motor positive and inverse signal input relay module after the first signal isolation module 1 that DSP control module produces, for controlling switching on and off of the normally-open normally-close terminal of 24V end, and then control motor positive and inverse by external power 24V voltage signal;
Described wireless communication module is low-frequency wireless module, interface is RS232, metrical information can be sent to described DSP control module by wireless communication module by described sensor IMU, and described DSP control module can utilize wireless communication module to realize the real-time, interactive with host computer, it is able to receive that control command the response of host computer, and by the status information Real-time Feedback of crane to host computer;
The pwm control signal that described DSP control module produces is by controlling motor speed after described first signal isolation module 1, the motor positive and inverse signal that described DSP control module produces is by controlling motor positive and inverse after described first signal isolation module 1 and relay module, described DSP control module by described two block signal isolation module collections need limit signal and code device signal, store after the process of DSP control module peripheral circuit and FPGA program in corresponding DSP register.
3. the overhead crane automatic control system hardware platform based on DSP according to claim 1 and 2, it is characterized in that the control signal that described hardware platform adopts is PWM ripple, can be applied in the crane system of all use converters, and different control programs can be used to realize different control effects.
4. the overhead crane automatic control system hardware platform based on DSP according to claim 1 and 2, it is characterized in that the communication protocol mutual with host computer of described Hardware platform design complete set, there is the fault-tolerant design to unexpected situation, it is possible to ensure the correct transmission of data and the timely feedback to overhead crane control order; This communication protocol mainly includes following two parts:
1) host computer actively issues the order of DSP control module, including: position control command frame, elevating control command frame, emergency brake command frame and reset command frame; Wherein position control order and elevating control order all use exclusive or check to ensure the accuracy of data;
2) DSP control module actively issues the order of host computer, including: acknowledgement frame, crane position configuration state frame and suspension hook real-time status frame; Wherein acknowledgement frame adopts exclusive or check to ensure the accuracy of data; Acknowledgement frame is specifically divided into again: position control order accurately receives frame, elevating control order accurately receives frame, position control order completes frame, elevating control order completes frame, control command receives mistake or control command is not fully complete frame, emergency brake command completes frame, reset command completes frame and crane hands auto state frame.
5. the overhead crane automatic control system hardware platform based on DSP according to claim 1 and 2, it is characterized in that described hardware platform adopts low-frequency wireless module to carry out radio communication, it is possible to meet that crane scene is complicated and changeable, often have object to block, the communicating requirement of panel and host computer communication distance working environment farther out.
6. the overhead crane automatic control system hardware platform based on DSP according to claim 2, it is characterised in that use fpga chip that DSP is carried out Function Extension, it is possible to simultaneously to process maximum 7 road code device signals.
7. the overhead crane automatic control system hardware platform based on DSP according to claim 2, it is characterised in that use some laser sensor to measure crane position in real time, the positioning precision of crane can be made to reach ± 5mm.
8. the overhead crane automatic control system hardware platform based on DSP according to claim 1, it is characterized in that being isolated with control circuit external circuit and controlled device by described control circuit internal circuit with optocoupler, to reduce the interference to control circuit internal circuit signal of the controlled device signal of telecommunication.
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| CN106429851A (en) * | 2016-12-15 | 2017-02-22 | 南开大学 | Bridge crane automatic control system based on remote operation |
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| CN105676728B (en) | 2018-04-06 |
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