本文選題：高空作業(yè)平臺　切入點：直流無刷電機　出處：《石家莊鐵道大學》2013年碩士論文　論文類型：學位論文

【摘要】：高空作業(yè)平臺是一種將作業(yè)人員、工具、材料等通過作業(yè)平臺舉升到空中指定位置進行各種安裝、維修等作業(yè)的專用高空作業(yè)設備。一套安全可靠的控制系統(tǒng)是保證作業(yè)人員安全的基本要求,本文以電動自行式高空作業(yè)平臺為研究對象,圍繞其涉及的各項相關的技術進行了研究與分析。 首先,通過對幾種常用通信方式的分析與比較,通信系統(tǒng)選擇了CAN總線通信方式。在實時性設計上,深入研究了CAN總線應用協(xié)議,制定了一套簡單而有效的應用層協(xié)議；在可靠性設計上,從終端電阻、匹配電容和共模扼流器三個方面對CAN總線的EMC(電磁兼容性)問題進行了研究。在上述研究的基礎上,完成了CAN通信系統(tǒng)的接口電路和相關程序設計。 其次,本文將廣泛應用于電動汽車的電子差速控制成功運用到了高空作業(yè)平臺轉向系統(tǒng)上。根據(jù)其轉向系統(tǒng)的機械結構特點建立了相應數(shù)學模型,采用前輪轉向,四輪驅動的電子差速模式,在速度給定、轉向角度連續(xù)變化的條件下,使用Matlab/Simulink對電子差速系統(tǒng)進行了仿真,并對仿真結果進行了相應分析。 再次,在上述理論研究的基礎上,本文提出了一種基于一個DSP和多個單片機的控制系統(tǒng)結構方案,完成了控制系統(tǒng)的所有硬件與軟件設計,并在樣車上完成了安裝與相關調試。 最后,一方面,建立了直流無刷電機本體仿真模型,仿真并分析了相電流、反電動勢、轉速等參數(shù)；另一方面,通過建立直流無刷電機、PWM裝置、電流調節(jié)器和轉速調節(jié)器的傳遞函數(shù),構建了行走電機直流調速系統(tǒng)的轉速電流雙閉環(huán)的PID動態(tài)結構模型,并通過Matlab/Simulink對上述模型進行了仿真,根據(jù)仿真結果分析了驅動系統(tǒng)動態(tài)系統(tǒng)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.
【學位授予單位】：石家莊鐵道大學
【學位級別】：碩士
【學位授予年份】：2013
【分類號】：TH211.6;TP273

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