發(fā)布時間：2018-03-17 07:45

  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(xué)》2013年碩士論文　論文類型：學(xué)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(shè)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(guān)的技術(shù)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(shè)計上,深入研究了CAN總線應(yīng)用協(xié)議,制定了一套簡單而有效的應(yīng)用層協(xié)議；在可靠性設(shè)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(chǔ)上,完成了CAN通信系統(tǒng)的接口電路和相關(guān)程序設(shè)計。 其次,本文將廣泛應(yīng)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(zhuǎn)向系統(tǒng)上。根據(jù)其轉(zhuǎn)向系統(tǒng)的機械結(jié)構(gòu)特點建立了相應(yīng)數(shù)學(xué)模型,采用前輪轉(zhuǎn)向,四輪驅(qū)動的電子差速模式,在速度給定、轉(zhuǎn)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(jié)果進行了相應(yīng)分析。 再次,在上述理論研究的基礎(chǔ)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(jié)構(gòu)方案,完成了控制系統(tǒng)的所有硬件與軟件設(shè)計,并在樣車上完成了安裝與相關(guān)調(diào)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(zhuǎn)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(diào)節(jié)器和轉(zhuǎn)速調(diào)節(jié)器的傳遞函數(shù),構(gòu)建了行走電機直流調(diào)速系統(tǒng)的轉(zhuǎn)速電流雙閉環(huán)的PID動態(tài)結(jié)構(gòu)模型,并通過Matlab/Simulink對上述模型進行了仿真,根據(jù)仿真結(jié)果分析了驅(qū)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(xué)位授予單位】：石家莊鐵道大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：TH211.6;TP273

【參考文獻】

相關(guān)期刊論文 前10條

1 萬里光;;基于Matlab的雙閉環(huán)直流電機調(diào)速系統(tǒng)的仿真[J];船電技術(shù);2011年02期

2 馬建如;李小光;;基于電路原理圖的無刷直流電機建模[J];電測與儀表;2010年09期

3 包向華,章躍進;基于SIMULINK的永磁無刷直流電動機及控制系統(tǒng)的建模與仿真[J];電氣傳動自動化;2005年04期

4 周艷青;黃常抒;;基于Matlab無刷直流電機控制系統(tǒng)的新型建模仿真[J];防爆電機;2008年06期

5 吳志紅;劉剛;朱元;;基于實時內(nèi)核的電動車電子差速算法仿真[J];單片機與嵌入式系統(tǒng)應(yīng)用;2009年05期

6 王貴明;王金懿;;四輪驅(qū)動四輪轉(zhuǎn)向的汽車電子差速轉(zhuǎn)向控制[J];變頻器世界;2011年02期

7 張傳偉,郭衛(wèi);直流電機雙閉環(huán)調(diào)速系統(tǒng)仿真研究[J];機床與液壓;2005年02期

8 馬國偉,孫漢旭,賈慶軒,葉平;無刷直流電動機的雙閉環(huán)調(diào)速系統(tǒng)設(shè)計[J];機電產(chǎn)品開發(fā)與創(chuàng)新;2004年06期

9 張華;祝志峰;董威;;我國裝修與高空作業(yè)機械行業(yè)的現(xiàn)狀及展望[J];建筑機械化;2006年05期

10 張華;李守林;;國內(nèi)外高空作業(yè)機械的現(xiàn)狀及發(fā)展趨勢(上)[J];建筑機械化;2011年03期

相關(guān)碩士學(xué)位論文 前4條

1 瞿曉東;電動汽車四輪驅(qū)動控制策略的研究[D];武漢理工大學(xué);2011年

2 柏睿;電動汽車電子差速系統(tǒng)的控制[D];哈爾濱工業(yè)大學(xué);2010年

3 莊凱;永磁無刷直流電機控制系統(tǒng)設(shè)計[D];重慶大學(xué);2006年

4 金晶;車用CAN網(wǎng)絡(luò)實時性與可靠性研究[D];武漢理工大學(xué);2010年

，

本文編號：1623809