【摘要】：多卷筒海洋拖曳絞車是海洋拖曳系統(tǒng)中的重要工程裝備,在海洋學(xué)研究和海洋資源勘探中有著重大作用。本文針對多卷筒拖曳絞車需使用大量執(zhí)行器驅(qū)動多個卷筒收放的特點(diǎn),結(jié)合當(dāng)前工程機(jī)械控制系統(tǒng)的發(fā)展現(xiàn)狀提出了一套自動化、智能化的集成控制方案,對多卷筒絞車的控制具有較高的學(xué)術(shù)研究和工程應(yīng)用價值。本文圍繞集成控制系統(tǒng)的軟硬件開發(fā)和控制算法研究而撰寫,同時設(shè)計了集成控制系統(tǒng)的離線調(diào)試平臺,主要內(nèi)容包括：(1)硬件系統(tǒng)的模塊化設(shè)計。以32位微控制器STM32F103ZET7芯片為核心設(shè)計硬件系統(tǒng)的主控單元,主控單元和多個帶單片機(jī)系統(tǒng)的功能模塊共同完成集成控制系統(tǒng)的輸入輸出和通信功能。(2)軟件系統(tǒng)的設(shè)計。提出了軟件系統(tǒng)的整體架構(gòu)和軟件的總體流程,完成了主控單元和其他功能模塊的微機(jī)系統(tǒng)的軟件設(shè)計,設(shè)計了基于觸摸屏的人機(jī)交互系統(tǒng)。(3)拖曳絞車的控制算法研究。通過仿真和實(shí)驗(yàn)的方法用PID和模糊控制算法對拖曳絞車上平衡頭架和排纜機(jī)構(gòu)工作過程中的閉環(huán)控制進(jìn)行了研究。(4)集成控制系統(tǒng)離線調(diào)試平臺的研究。設(shè)計了調(diào)試平臺的上位機(jī)和下位機(jī),對研制的集成控制系統(tǒng)進(jìn)行了流程化的軟硬件功能測試。
[Abstract]:Multi-drum marine towing winch is an important engineering equipment in marine towing system and plays an important role in oceanographic research and marine resource exploration. Aiming at the characteristic that a large number of actuators are used to drive multiple reels in multi-drum towing winch, a set of automatic and intelligent integrated control scheme is put forward according to the current development situation of construction machinery control system. The control of multi-drum winch has high academic research and engineering application value. This paper focuses on the software and hardware development of the integrated control system and the research of the control algorithm. At the same time, the off-line debugging platform of the integrated control system is designed. The main contents are as follows: (1) the modularization design of the hardware system. The main control unit of the hardware system is designed with 32-bit microcontroller STM32F103ZET7 chip as the core. The main control unit and several functional modules with single chip microcomputer system jointly complete the input, output and communication functions of the integrated control system. (2) the design of the software system. The whole structure of the software system and the overall flow of the software are put forward, the software design of the microcomputer system of the main control unit and other functional modules is completed, and the man-machine interaction system based on the touch screen is designed. (3) the control algorithm of the towing winch is studied. By means of simulation and experiment, the closed loop control of the balancing head frame and cable discharging mechanism on the towing winch is studied by using PID and fuzzy control algorithm. (4) the off-line debugging platform of the integrated control system is studied. The upper and lower computers of the debugging platform are designed, and the software and hardware functions of the developed integrated control system are tested.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：P75;TP273

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