CN101655708B - Intelligent vehicle carrier and control system and control method thereof - Google Patents
Intelligent vehicle carrier and control system and control method thereof Download PDFInfo
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- CN101655708B CN101655708B CN2008102180573A CN200810218057A CN101655708B CN 101655708 B CN101655708 B CN 101655708B CN 2008102180573 A CN2008102180573 A CN 2008102180573A CN 200810218057 A CN200810218057 A CN 200810218057A CN 101655708 B CN101655708 B CN 101655708B
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Abstract
The invention relates to an intelligent vehicle carrier and a control system and a control method thereof. The intelligent vehicle carrier comprises a travel driving motor, a knockout plate driving motor and a holding arm driving motor, which are all servo motors. The control system comprises a motion controller as the core cell and a plurality of peripheral modules which are connected with the motion controller so that the motion controller can carry out data exchange with the outside. The motion controller comprises a DSP module which is mainly in charge of logical flows and a logical operation module which carries out concrete logic implementation and logical output. The DSP module is connected with the logical operation module. Relative to the prior art, the invention has the following beneficial effects: as the servo motors are adopted as power components, the overall height of the intelligent vehicle carrier can be lower, and the motion control precision and response speed are higher; the control system has clear architecture and higher reliability, stability and working efficiency.
Description
Technical field
The present invention relates to the intelligent three-dimensional garage technical field, be specifically related to a kind of control system and control method of intelligent vehicle carrier, and the intelligent vehicle carrier that has adopted this control system and control method.
Background technology
Along with the quick growth of city vehicle, intelligent three-dimensional garage has become the important way that large-and-medium size cities solve parking difficulty.And the soul of intelligent three-dimensional garage is an intelligent vehicle carrier (vehicle conveying robot) wherein.The quality of passing judgment on an intelligent three-dimensional garage is mainly seen the performance of its intelligent vehicle carrier.At present, intelligent vehicle carrier has several types, and wherein performance is most advanced, access car mode is the most rational is clamping tire humanoid robot.
But the propulsion system of a lot of clamping tire humanoid robots before all adopt hydraulic way to realize, such as Chinese patent ZL 02263871.7 disclosed " the vertically industrial robot of carrier vehicle ".This kind vehicle carrier need adopt the hydraulic-driven clamping limb, thereby needs subsidiary pumping plant, so structurally can not do very shortly.And this robotlike need walk under automobile chassis, and the chassis of a lot of cars is all very low, so hydraulically powered automobile carrier practicality is not strong.What need further specify is, this patent has also been mentioned servomotor, but the servomotor in this patent only is used for the walking of automobile carrier.
The most high-grade clamping tire humanoid robot has adopted AC asynchronous motor as propulsion system at present, but also can not do too many work to the control of AC asynchronous motor at present, the most high-grade also just realize frequency control, thereby reaction velocity is slow, the motion control precision is low; And because the restriction of installing space, this configuration mode also causes and control system can't be directly installed on the intelligent carrier body.Its control system generally adopts microcomputer+motion control template, perhaps embedded OS+two kinds of methods of motion control template are to solve the problem of working condition more complicated, but these two kinds of methods all are the microcomputers that depends on intelligent three-dimensional garage carries out the lot of data processing, finish and only give control system part work, this invisible structure more complicated that has caused intelligent three-dimensional garage, systematic comparison is loaded down with trivial details, and reliability is also lower.
In sum, present automobile intelligent carrier can not satisfy the growing needs of people, is necessary to improve.
Summary of the invention
One of technical matters to be solved by this invention provides a kind of intelligent vehicle carrier, and it has lower height, and higher motion control precision and response speed.
Two of technical matters to be solved by this invention is corresponding control system that a kind of intelligent vehicle carrier is provided, and it can be good at controlling intelligent vehicle carrier of the present invention.
Three of technical matters to be solved by this invention is corresponding control methods that a kind of intelligent vehicle carrier is provided, and it can be good at utilizing the control system of the intelligent vehicle carrier among the present invention, removes to control intelligent vehicle carrier of the present invention.
Be the technical matters of the control system that solves above-mentioned intelligent vehicle carrier, the present invention adopts following technical scheme: the control system of intelligent vehicle carrier, and the control system of described intelligent vehicle carrier comprises:
Motion controller as core cell, described motion controller comprises: the DSP module of main management logic flow process, logical operation module with specific implementation of carrying out logic and logic output, wherein, described DSP module comprises: dsp controller and the storage unit that is connected with described dsp controller; Described logical operation module comprises: FPGA or CPLD arithmetic logic unit and the storage unit that is connected with described FPGA or CPLD arithmetic logic unit, and described FPGA or CPLD arithmetic logic unit are connected with dsp controller; And
A plurality ofly be connected with motion controller, so that motion controller and the extraneous peripheral module that carries out exchanges data, described peripheral module comprises: Fieldbus Control device, external command input and state output processing unit, interface operation and status display unit, general digital quantity sensor input signal processing unit, general digital quantity output processing unit, general-purpose simulation quantity sensor signal input processing unit, the output of general-purpose simulation amount processing unit, high-speed pulse feedback processing unit and servo-driver input and output control unit.
For solving the technical matters of above-mentioned intelligent vehicle carrier, the present invention adopts following technical scheme:
Intelligent vehicle carrier comprises interconnective two units and the control system of controlling each aircrew cooperation work; Described unit comprises frame, line slideway, rushing board mechanism and travel mechanism; Described line slideway has two at least, and parallel symmetry is fixedly installed on the described frame; Described rushing board mechanism has two, and all slidably is arranged on the described line slideway; Described travel mechanism has two covers at least, and is arranged on the two ends of frame, and has at least a cover to comprise travel driving motor in the travel mechanism; Described rushing board mechanism comprises push pedal, drives the push pedal driving mechanism of described push pedal campaign, and is arranged on the clamping limb mechanism in the described push pedal, and described push pedal driving mechanism comprises the push pedal drive motor, and described clamping limb mechanism comprises the clamping limb drive motor; It is characterized in that described travel driving motor, push pedal drive motor, clamping limb drive motor are servomotor, described control system is aforesaid control system.
Be the technical matters of the control method that solves above-mentioned intelligent vehicle carrier, the present invention adopts following technical scheme:
The motion control method of intelligent vehicle carrier, it adopts above-mentioned control system to control above-mentioned intelligent vehicle carrier, key is that it comes the management logic flow process by the DSP module, and carries out the specific implementation and the logic output of logic by logical operation module.
The beneficial effect of the relative prior art of the present invention is:
Owing to adopt servomotor, make that the whole height of intelligent vehicle carrier can be lower, and motion control precision and response speed are higher as dynamical element.And DSP module and logical operation module are shared out the work and help one another in the control corresponding system, make system architecture very clear, and reliability, stability and work efficiency are all higher, more can be suitable for the working environment of intelligent vehicle carrier and the requirement of work characteristics.
Description of drawings
Fig. 1 is the structural representation of specific embodiment of the invention intelligent vehicle carrier;
Fig. 2 is the theory diagram of control system in the specific embodiment of the invention;
Fig. 3 is the theory diagram of motion controller in the specific embodiment of the invention;
Fig. 4 is the bicycle parking process flow diagram of specific embodiment of the invention intelligent vehicle carrier;
Fig. 5 is the view in the specific embodiment of the invention intelligent vehicle carrier bicycle parking flow process;
Fig. 6 is another view in the specific embodiment of the invention intelligent vehicle carrier bicycle parking flow process;
Fig. 7 is the view again in the specific embodiment of the invention intelligent vehicle carrier bicycle parking flow process.
Embodiment
As shown in Figure 1, the intelligent vehicle carrier of this embodiment comprises: interconnective two units---be respectively first unit 1 and second unit 2, and the control system (not drawing among the figure) of control each several part collaborative work.First unit 1 and second unit 2 are to fit tightly to be in the same place when virgin state.
First unit 1 comprises: first frame 10,15,16, two rushing board mechanisms of line slideway are respectively first rushing board mechanism 11 and 12, two travel mechanisms of second rushing board mechanism, are respectively first travel mechanism 13 and second travel mechanism 14.
First rushing board mechanism 11 and second rushing board mechanism 12 are arranged on the front and rear of first unit 1, and all are connected with first frame 10 by the parallel symmetrically arranged line slideway 15,16 in the left and right sides, thereby can relative first frame 10 seesaw.First travel mechanism 13 and 14 in second travel mechanism are separately positioned on the forward and backward two ends of first unit 1, are used to drive the 1 whole walking of first unit.
First rushing board mechanism 11 specifically comprises: first push pedal 111, the first push pedal driving mechanism 112 and clamping limb mechanism 113.
The first push pedal driving mechanism 112 further comprises the first push pedal drive motor 1121 and first leading screw 1122, first nut 1123.The described first push pedal drive motor 1121 is fixed on first frame 10, first nut 1123 is fixed in first push pedal 111, and the first push pedal drive motor 1121 is connected with first nut, 1123 power by described first leading screw 1122, thereby it is close or away from the motion of the first push pedal drive motor 1121 to drive first push pedal, 111 works.
Described clamping limb mechanism 113 is arranged in first push pedal 111, comprise: be fixedly installed on the first clamping limb drive motor 1131 at first push pedal, 111 middle parts, first clamping limb 1132 that is symmetricly set on first push pedal, 111 two ends and second clamping limb 1133, and the gear train 1134 between the first clamping limb drive motor 1131 and first clamping limb 1132, second clamping limb 1133.The first clamping limb drive motor 1131 is by described gear train 1134 synchrodrive
In fact described gear train 1134 comprises a screw mechanism and two symmetrically arranged pinion and racks.The first clamping limb drive motor 1131 drives the leading screw rotation of screw mechanism, thereby the rack linear of driven wheel tooth bar mechanism motion, and then the gear of driven gear rack mechanism rotation, and the gear of pinion and rack meshes with first clamping limb 1132 or second clamping limb 1133 again, thereby drive first clamping limb 1132 or second clamping limb 1133 waves around the one end in 90 degree scopes, thereby finally realize the action of stretching out or withdrawing.
The structure of second rushing board mechanism 12 and composition are identical with first rushing board mechanism 11, are not described in detail in this.
Described first travel mechanism 13 comprises: travel driving motor 131, live axle 132 and road wheel 133.The described live axle 132 rotating front ends that are arranged on first frame 10, and the two ends of live axle 132 respectively are set with a described road wheel 133 that is used to walk.Described travel driving motor 131 is fixedly installed on first frame 10, and is connected by mode power such as chain transmission or band transmissions with live axle 132, and final ground-engaging wheel 133 rotates, thereby drives 1 walking of first unit.
The structure of second travel mechanism 14 and composition etc. are all identical with first travel mechanism 13, are not described in detail in this.Certainly, can there be one not need travel driving motor 131 in first travel mechanism 13 and second travel mechanism 14, because there is the travel mechanism of an active can drive 1 walking of first unit in the same old way, just two travel mechanisms in this embodiment all are the active travel mechanisms, be commonly called as four-wheel drive, speed is corresponding faster, the walking better effects if.
It is identical that the structure of second unit 2 and composition equal first unit 1, is not described in detail in this.
Transport device control system theory diagram as shown in Figure 2, this control system is mainly used on control first unit 1 and second unit 2 12 motors altogether, thus the everything of control intelligent vehicle carrier.Need benly be, all motors are servomotor, this is because servomotor control accuracy height, action response are fast, and its volume compares with the common alternating current of constant power confidential for a short time, thereby is highly suitable for the intelligent vehicle carrier of this type of platypelloid type.Because all power adopts AC servo motor, supporting with it control system must be able to be controlled AC servo motor, must possess position, speed closed loop control function at least.In the vehicle conveying process, a variety of initial states are arranged, this has just determined control system that multiple workflow is arranged, control system must have very strong information interaction ability and information processing capability.Traditional control system generally adopts microcomputer+motion control template at present, perhaps embedded OS+two kinds of methods of motion control template are to solve the problem of working condition more complicated, but these two kinds of methods all are to depend on computing machine to carry out the lot of data processing, finish and only give motion controller part work, this invisible structure more complicated that caused, systematic comparison is loaded down with trivial details, and reliability also reduces a lot.Because the restriction of installing space, this configuration mode also causes and control system can't be installed on the intelligent carrier body.So the control method of using always in the general intelligence carrier is no longer suitable at present, need the brand-new control system of exploitation.
The control system of this embodiment comprises: as the motion controller of core cell, and be connected with motion controller, so that motion controller and the extraneous a plurality of peripheral modules that carry out exchanges data are respectively: the Fieldbus Control device, external command input and state output processing unit, interface operation and status display unit, general digital quantity sensor input signal processing unit, general digital quantity output processing unit, general-purpose simulation quantity sensor signal input processing unit, general-purpose simulation amount output processing unit, high-speed pulse feedback processing unit, servo-driver input and output control unit J1～J12.By these peripheral modules, motion controller can be realized whole actions of intelligent vehicle carrier are controlled automatically easily.
Such as, external command input and state output processing unit carry out logic determines, determine according to present instruction, intelligent vehicle carrier should go work according to some default flow processs, then pass through the state feedback information of general digital quantity sensor input signal processing unit, general-purpose simulation quantity sensor signal input processing unit, high-speed pulse feedback processing unit, servo-driver input and output control unit J1～J12 etc., after motion controller confirmed that present duty is correct, circulation was carried out in entry instruction immediately.Pre-set steady job flow process when instruction is carried out circulation and is program composition, in this flow process, parameters such as speed that motor rotation speed, acceleration-deceleration, motor operational objective position, motor operation course allow and site error are determined value.
Mainly comprise DSP (digital signal processor) module and FPGA (Field-Programmable Gate Array in the motion controller, field programmable gate array) arithmetic logic unit, wherein the DSP module mainly plays the effect of logic determines and parameter transmission, and real work is finished by the fpga logic arithmetic element.The fpga logic arithmetic element is after receiving concrete kinematic parameter, by interface operation and the timely display system duty of status display unit, and carry out the output of exercises by digital quantity output unit, analog quantity output processing unit, servo-driver input and output control unit J1～J12, simultaneously by various input blocks as feedback, carry out the closed-loop control of total system action.
Motion controller of the present invention is a multi-axis motion controller, can control 12 even more axis servomotors.Fig. 3 is the theory diagram of motion controller, and as seen from Figure 3, it is the logical operation module of core that this motion controller comprises with the fpga logic arithmetic element, and is the DSP module of core with the dsp controller.Certainly, the DSP module also comprises storage unit and indispensable interface circuit except comprising dsp controller; Logical operation module yet comprises storage unit and indispensable interface circuit except comprising the fpga logic arithmetic element.Certainly, the fpga logic arithmetic element also can be by CPLD (Complex PLD as required during practical application, Complex Programmable Logic Device CPLD) arithmetic logic unit substitutes, and this paper only illustrates with the fpga logic arithmetic element.
Particularly, logical operation module also comprises and being connected with the fpga logic arithmetic element: storage unit, FPGA configuration module and FPGA emulation module, power management module and system clock module, the address bus control module, the data bus control module, pulse producer, numeral and analog quantity TCU transfer control unit, the general digital quantity input and output control unit, pulse feedback is divided the frequency multiplication control module, feedback pulse counting unit, position initial point capturing function module, the axis servomotor pulse producer, axis servomotor feedback pulse counter, axis servomotor and pulse producer Dynamic matching unit, velocity feed forward and feedback control module, the hi-Fix module, rate smoothing module in the Dynamic matching process.
Pulse producer, numeral and analog quantity TCU transfer control unit, general digital quantity input and output control unit, pulse feedback are divided the rate smoothing module in frequency multiplication control module, feedback pulse counting unit, position initial point capturing function module, axis servomotor pulse producer, axis servomotor feedback pulse counter, axis servomotor and pulse producer Dynamic matching unit, velocity feed forward and feedback control module, hi-Fix module, the Dynamic matching process, all are connected with signal amplification unit, Signal Spacing unit, motor interface unit, long line driver element again.And signal amplification unit, Signal Spacing unit all are connected with sensor topworks.Motor interface unit, long line driver element connect and all are connected with the servomotor feedback coder.
The core devices of DSP module---dsp controller not only is connected with the fpga logic arithmetic element, also is connected with storage unit.In addition, the DSP module also comprises and being connected with dsp controller: power module, system configuration unit, watchdog unit, startup processing unit, emulation interface unit, state indicating member, logical process control module, program circuit selected cell, parameter generation and allocation units, Fieldbus Control unit, serial communication processing unit, Industrial Ethernet Control unit, user-machine interface unit, fault display alarm and processing unit, system clock processing unit, system power supply protected location.Wherein, Fieldbus Control unit, serial communication processing unit, Industrial Ethernet Control unit all return the unit with host computer instruction transfer unit, state and parameter again and are connected.And user-machine interface unit, fault display alarm and processing unit all are connected with local status display unit, local operation panel unit again.
Dsp controller is as the core of control system, not only realized the storage and the work of treatment of program, data, also finished the unified coordination and administration of system hardware resources, all the logic working flow processs in can realization equipment action control procedure.Dsp controller has been selected the high speed embedded processing chip BF531 of ADI company for use.Storage unit is mainly used in the storage of data and program, and for the needs that can handle the static store of logical program and motion control process data, storage unit has been selected FLASH M29W400B for use.
For travelling speed and the operational reliability that improves control system, logic flow is managed by dsp controller, concrete logic realization and logic output are then gone to realize by the fpga logic arithmetic element, workflow management and concrete action management are separated veritably, thereby make system architecture very clear, improve reliability, stability and work efficiency, more can be suitable for the working environment of intelligent vehicle carrier and the requirement of work characteristics.In the present embodiment, the fpga logic arithmetic element has been selected the EPM1270 of ALTRA company for use.
Because program is worked out according to various workflows, corresponding to some workflows, in program, preset relevant parameters, such as speed, the target location, various Rule of judgment etc., so, in case program circuit is determined, program is inevitable according to the program segment operation that has existed, so in the control system of the present invention, dsp controller is according to workflow, form parameters needed and various Rule of judgment and standard in a series of actions process, comprised each speed and accuracy requirement, collaborative work state between each, the precision index that action is finished, various sign states in the course of action, the dynamic assignment of axis servomotor and pulse producer, dynamic assignment between feedback pulse technology device and the axis servomotor or the like.These parameters, criterion, various signs etc. carry out exchanges data by data and address bus and FPGA, the specific implementation of moving by FPGA, such as FPGA at first receives the parameter that DSP passes over, and carries out the input and output of I/O, the output of pulse producer or counting work of counter or the like according to these parameters by its intrinsic function again.
Dsp controller has been finished the management of storage unit, and alternative various program circuits all are stored in the storage unit.After system's power-on self-test was finished, dsp controller was promptly carried out the main program flow in the storage unit.Main program flow is keeping the monitoring of external interface to determine current communication, demonstration and various output state by modes such as inquiry, interruptions always.Master routine is by MAX485 serial communication module, RTL8019 ICP/IP protocol module or the realization of the SPC3 PROFIBUS-DP fieldbus module message exchange with host computer.Host computer is the main control unit of whole intelligent garage, may be a computing machine, also may be a PLC (programmable logic controller (PLC)).The division of labor framework of control system among the present invention has not only guaranteed to control precision, the rate request of various motions, and has simplified the task amount with the host computer collaborative work greatly, and system architecture is clear, reliable.
The pulse producer of traditional motion controller, D/A modular converter quantity must be corresponding with axis servomotor quantity.For reducing the demand of many axis servomotors system hardware resources, pulse producer, D/A modular converter quantity are less than the quantity of axis servomotor among the present invention, this just needs Dynamic Selection, distributor circuit to make pulse producer etc. and axis servomotor dynamic combined, and can guarantee to reconfigure seamless connection in the process, avoid the acute variation of axis servomotor speed in reconfiguring process.Pulse feedback branch frequency multiplication counter quantity of the present invention is less than the quantity of axis servomotor, this just needs Dynamic Selection, distributor circuit to make pulse feedback branch frequency multiplication counter and axis servomotor dynamic combined, and can guarantee to reconfigure that pulse feedback can correctly be connected smoothly in the process, avoid the problem that does not conform to the actual conditions occurring feeding back and take place.For this reason, basic modules such as a plurality of pulse producers, branch frequency multiplication counter, low-pass filter, bandpass filter, PID+ velocity feed forward+feed forward of acceleration control module, pulse generation and feedback allocation unit have been designed in the fpga logic arithmetic element, can realize the dynamic combined and the application of various unit according to the instruction of DSP, saved the hardware system resource greatly, structure has been carried out great optimization, makes system more reliable and more stable.Particularly, in order to realize that the feedback pulse counter is less than axis servomotor quantity, the present invention adopts feedback counter and axis servomotor to make up the motion process position dynamic corrective system of moment, make control system moment realize correct linking between feedback and the axis servomotor, this mode significantly reduces system resource, and system bulk and scale reduce greatly.Parameter and various distinguishing rule and sign etc. that FPGA/CPLD transmits according to DSP carry out the realization of exercises by self hardware resource.
For minimizing system taking to hardware resource, design No. four pulse producers and four tunnel among the FPGA/CPLD and divided the double frequency pulse feedback counter, but controlling object of the present invention reaches 12 axis servomotors, can't be according to realizing pulse producer-axis servomotor-feedback pulse counter mode one to one in the traditional scheme.For this reason, the present invention has adopted the unique design method to realize that pulse producer quantity is less than axis servomotor quantity, the pulse feedback counter is less than the configuration mode of resetting shaft quantity, and has realized the seamless connection in the resource dynamic matching process.Based on the mode of above-mentioned conserve system resources, the present invention selects for use the EPM1270 CPLD chip of ALTRA company can satisfy system requirements.The hardware resource of the EPM1270 CPLD chip of ALTRA company itself is less, and the demand of system is not satisfied in normal design at all, and its input/output port quantity, a number are fewer.And adopted pulse producer quantity to be less than the method for designing of axis servomotor quantity, saved a lot of resources, so this chip could satisfy needs of the present invention.
Consider the complicacy and the diversity of intelligent vehicle carrier working condition, realized kinematic parameter real time modifying function in the motion process in the fpga logic arithmetic element, to the error correcting capability of system, adjust duty etc. in real time and have greatly and help.The input of universal high speed numeral is also realized by the fpga logic arithmetic element with output, by external isolation and filtering circuit, the fpga logic arithmetic element can be obtained I/O states such as external position, pulse at a high speed, and can be done in real time that the position is caught, position comparison, pulse signal input, output services.The Control work of D/A modular converter and output driving circuit is finished by the fpga logic arithmetic element equally, have the processing power of high-speed real-time for the logical operation of speed control and Torque Control, output, drift control etc., the assurance system can carry out work according to the instruction of DSP.
Motion controller is pre-configured multiple field network communication function, can realize multiple network agreements such as RS232, RS422/485, Ethernet, CAN, Profibus-DP, this powerful network function makes system realize that independent operation mode (Stand Alone) becomes possibility, the system that guaranteed in the independent operating process with external unit in real time, the synchronous coordination ability.
According to the intelligent vehicle carrier action feature, Control Software is made up of two parts, a part is the generic logic action implementation algorithm that is embedded in the fpga logic arithmetic element, comprise the pulse producer algorithm, pulse feedback is divided frequency multiplication counter algorithm, D/A modular converter control algolithm, PID+ velocity feed forward+feed forward of acceleration control, pulse producer and axis servomotor dynamic assignment combinational algorithm, pulse feedback counter and axis servomotor dynamic assignment combinational algorithm, motion process position and speed dynamic calibration algorithm etc., these algorithms and control system overall workflow are irrelevant, only need to work alone under the instruction of dsp controller logic flow to get final product; Another part of control system software is exactly system resource manager, interruption and incident management program, intelligent vehicle carrier motion flow supervisory routine and the communication management program that is embedded in the dsp controller.
The control method of intelligent vehicle carrier is formulated according to the workflow of control system by the control program in the dsp controller.According to workflow, control program at first sends the walking instruction, the parameters such as distribution state of the distribution state of the speed of travel, travel distance, axis servomotor and pulse producer, axis servomotor and feedback counter are all provided by the control program in the dsp controller, by the FPGA specific implementation, finally go drive motor work afterwards by periphery isolation, filtering, driving circuit.In like manner, according to workflow, the spinning movement of clamping limb, the expanding-contracting action of rushing board mechanism etc. needs dsp controller to specify each parameter equally, goes final drive motor to realize by FPGA by periphery isolation, filtering, driving circuit.
Be illustrated in figure 4 as a typical bicycle parking flow process.At first carry out self check after system powers on, determine current state, check then whether master control system has instruction.If just do not check repeatedly that in fact the process of Jian Chaing is exactly the process of standby repeatedly, till the instruction that is checked through master control system, this mode is very suitable for the repetitive operation of various special mechanical equipments.
Continue down to carry out after being checked through the master control system instruction, carry out process selecting, determine course of action, and pass back host computer such as current state, failure message, various detection information, so that realize the fusion of information with the intelligent garage system of PC control by field network.If the bicycle parking flow process, then system continues down to carry out; If other flow process, then then carry out " routine processes of other flow process ".
The bicycle parking flow process comprises again picks up the car and puts two actions of car, promptly will travel earlier and pick up the car to the target vehicle chassis, then vehicles drive is put down to the target parking stall.
The first step of the flow process of picking up the car is that intelligent vehicle carrier integral body is to vehicle '.According to the residing at that time position of intelligent vehicle carrier, may first unit 1 preceding, also may second unit 2 preceding, preceding, and first unit 1 is used for the front-wheel of carrying vehicle to this example, is illustrated with first unit 1.
Intelligent vehicle carrier integral body can not stop to judge whether first unit puts in place in the process of vehicle ', then do not walk on if put in place; Then down carry out the first unit motion flow and the second unit motion flow respectively simultaneously if put in place.Because the first unit motion flow and the second unit motion flow are carried out simultaneously, can improve the speed of access car greatly herein.
The first step of the first unit motion flow is whole four clamping limb Unscrews of first unit, and the state of this moment is shown in Fig. 5 left side.After clamping limb was all opened, two rushing board mechanisms of first unit 1 shrank, so that two front-wheels of vehicle are lifted.Rushing board mechanism relies on corresponding servomotor to drive feed screw nut, makes push pedal along the line slideway mechanism kinematic, and this is a typical gantry mechanism synchro control problem, requires net synchronization capability higher, must adopt the speed closed loop control mode.When rushing board mechanism shrinks, judge constantly whether vehicle front-wheel is liftoff, if front-wheel does not have liftoff just the continuation to shrink; Judge further whether vehicle rear wheel is liftoff if front-wheel is liftoff then.The state of front-wheel built on stilts is shown in Fig. 6 left side.Need to prove, because the motion flow of first unit 1 is simple than second unit 2, so this moment, general second unit 2 also was not lifted away from ground with vehicle rear wheel, so in the motion flow of first unit 1, be provided with the flow process of judging that vehicle rear wheel is whether liftoff, in fact be exactly to wait for that second unit finishes its motion flow.
The first step of the second unit motion flow is, two clamping limbs of second unit are opened, second unit travels to vehicle rear wheel then, and in the process of exercising, constantly judge whether second unit puts in place, if two clamping limbs opening are run into the trailing wheel behind the automobile, illustrate then that second unit has been walked to put in place; Then do not walk on if put in place; Then continue down to carry out if put in place.
It is emphasized that, an important improvement part of the present invention is, be used for first unit 1 of carrying vehicle trailing wheel or second unit 2 have adopted cumulative errors number of pulses and present speed overall calibration and cooperated the aided location sensor when dynamically seeking the target location of vehicle rear wheel mode, the method for this dynamic searching vehicle rear wheel target with the specific descriptions of mathematic(al) representation is:
Wherein Pos be at t1 to t2 equivalent pulse change amount under cumulative errors pulse and the percentage speed variation combined influence in the time, when employing speed closed loop pattern, present speed can be converted to the equivalent impulse speed in FPGA inside;
T1, t2 are the sampling time, in order to eliminate the factor of cumulative errors in the whole walking process, consider the speed in the time period and the situation of cumulative errors pulse during program design;
V
Command, V
FeedbackBe respectively instruction speed and actual feedback speed, T is the sampling period, is set at fixedly timed interrupt cycle on program, to guarantee can not cause because of the difference of workflow the difference of result of calculation;
By evidences such as a large amount of zero loads, heavy duty and various states of ground, this method is the influence of factors such as the smooth degree in filtering ground, ground obstacle, the normal acceleration and deceleration of carrier itself effectively, make the rate of accuracy reached to 100% of dynamic searching target, the reliability height has also been avoided after searching out target because the hysteresis quality problem of judging causes the impact to target simultaneously.
After this state after second unit puts in place is then opened two other clamping limb of second unit shown in Fig. 4 right side, and the state after opening is shown in Fig. 5 right side.After clamping limb was all opened, two rushing board mechanisms of second unit 2 shrank, so that two trailing wheels of vehicle are lifted.When rushing board mechanism shrinks, judge constantly whether the trailing wheel of vehicle is liftoff, if trailing wheel does not have liftoff just the continuation to shrink; If the liftoff then continuation of trailing wheel is down carried out and is put the wagon flow journey.The state of the equal built on stilts of front and back wheel as shown in Figure 7.
Putting the first step of wagon flow journey yes the target vehicle that intelligent vehicle carrier carries on it travels to the target parking stall.In the process of travelling, constantly judge whether to arrive the target parking stall, then do not continue to travel; If arrive the target parking stall, then all rushing board mechanisms are opened, allow vehicle fall earthward, promptly finished whole bicycle parking action.All clamping limb withdrawals then, last first unit and second unit are drawn close to virgin state.So far whole flow performing finishes, and program is returned and continued to check the master control system instruction.
Need to prove, first unit and second unit are drawn close to the process of virgin state, because two units have left certain distance, this distance is different and different along with the wheelbase that is handled upside down vehicle, and virgin state requires two unit strictnesses to close up, so recover in the virgin state process at whole intelligent vehicle carrier, the speed of travel of two units is different, whole intelligent vehicle carrier is put in place after just in time two units close up fully.
In sum, major advantage of the present invention is as follows:
1, adopt servomotor as dynamical element, make that the whole height of intelligent vehicle carrier can be lower, and motion control precision and response speed is higher.
2, dsp controller realization flow management, concrete action is finished by the fpga logic arithmetic element, and this framework antijamming capability is strong, system works is reliable and stable, high efficiency, is highly suitable for the working environment of intelligent vehicle carrier and the requirement of work characteristics;
3, in order to improve system effectiveness, in the motion controller Action Selection control is separated with course of action control is strict, parallel processing has guaranteed system's framework clearly, has improved system reliability, stability and operational efficiency.Action Selection control belongs to the key link in the workflow, handle by dsp controller, and dsp controller forms a series of digitizing parameters and distinguishing rule according to the difference of moving, and the FPGA/CPLD arithmetic logic unit is according to these parameters and according to carrying out actual action control.The feedback of action is handled by FPGA/CPLD on the one hand, is monitored by dsp controller on the one hand, has guaranteed the reliability of system.
4,, realize that pulse producer quantity is less than the configuration mode of axis servomotor quantity by the Dynamic matching between paired pulses generator in the FPGA/CPLD arithmetic logic unit and the axis servomotor;
5,, realize that counter quantity is less than the configuration mode of axis servomotor quantity by dividing Dynamic matching between frequency multiplication counter and the axis servomotor to feedback pulse in the FPGA/CPLD arithmetic logic unit;
6, the mathematic(al) representation of the location algorithm of trailing wheel intelligent vehicle carrier when seeking the vehicle rear wheel position is:
A large amount of evidences, the inaccurate phenomenons in location such as overshoot can not take place in the action accuracy height of this method.
Above content be in conjunction with concrete preferred implementation to the further detailed explanation that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (7)
1. the control system of intelligent vehicle carrier is characterized in that, the control system of described intelligent vehicle carrier comprises:
Motion controller as core cell, described motion controller comprises: the DSP module of main management logic flow process, logical operation module with specific implementation of carrying out logic and logic output, wherein, described DSP module comprises: dsp controller and the storage unit that is connected with described dsp controller; Described logical operation module comprises: FPGA or CPLD arithmetic logic unit and the storage unit that is connected with described FPGA or CPLD arithmetic logic unit, and described FPGA or CPLD arithmetic logic unit are connected with dsp controller; And
A plurality ofly be connected with motion controller, so that motion controller and the extraneous peripheral module that carries out exchanges data, described peripheral module comprises: Fieldbus Control device, external command input and state output processing unit, interface operation and status display unit, general digital quantity sensor input signal processing unit, general digital quantity output processing unit, general-purpose simulation quantity sensor signal input processing unit, the output of general-purpose simulation amount processing unit, high-speed pulse feedback processing unit and servo-driver input and output control unit.
2. the control system of intelligent vehicle carrier as claimed in claim 1, it is characterized in that, described DSP module also comprises interface circuit, and described interface circuit comprises: power module, the system configuration unit, watchdog unit, start processing unit, the emulation interface unit, the state indicating member, the logical process control module, the program circuit selected cell, parameter takes place and allocation units, the Fieldbus Control unit, the serial communication processing unit, the Industrial Ethernet Control unit, the user-machine interface unit, fault display alarm and processing unit, the system clock processing unit, the system power supply protected location; Wherein, Fieldbus Control unit, serial communication processing unit, Industrial Ethernet Control unit all return the unit with host computer instruction transfer unit, state and parameter again and are connected.
3. the control system of intelligent vehicle carrier as claimed in claim 2 is characterized in that, described user-machine interface unit, fault display alarm and processing unit all are connected with local status display unit, local operation panel unit again.
4. the control system of intelligent vehicle carrier as claimed in claim 1, it is characterized in that, described logical operation module also comprises interface circuit, and described interface circuit comprises: FPGA or CPLD configuration module and FPGA or CPLD emulation module, power management module and system clock module, the address bus control module, the data bus control module, pulse producer, numeral and analog quantity TCU transfer control unit, the general digital quantity input and output control unit, pulse feedback is divided the frequency multiplication control module, feedback pulse counting unit, position initial point capturing function module, the axis servomotor pulse producer, axis servomotor feedback pulse counter, axis servomotor and pulse producer Dynamic matching unit, velocity feed forward and feedback control module, the hi-Fix module, rate smoothing module in the Dynamic matching process.
5. the control system of intelligent vehicle carrier as claimed in claim 4, it is characterized in that, described pulse producer, numeral and analog quantity TCU transfer control unit, the general digital quantity input and output control unit, pulse feedback is divided the frequency multiplication control module, feedback pulse counting unit, position initial point capturing function module, the axis servomotor pulse producer, axis servomotor feedback pulse counter, axis servomotor and pulse producer Dynamic matching unit, velocity feed forward and feedback control module, the hi-Fix module, rate smoothing module in the Dynamic matching process, equal again and signal amplification unit, the Signal Spacing unit, the motor interface unit, long line driver element connects; And signal amplification unit, Signal Spacing unit all are connected with sensor topworks; Motor interface unit, long line driver element connect and all are connected with the servomotor feedback coder.
6. intelligent vehicle carrier comprises interconnective two units and the control system of controlling each aircrew cooperation work; Described unit comprises frame, line slideway, rushing board mechanism and travel mechanism; Described line slideway has two at least, and parallel symmetry is fixedly installed on the described frame; Described rushing board mechanism has two, and all slidably is arranged on the described line slideway; Described travel mechanism has two covers at least, and is arranged on the two ends of frame, and has at least a cover to comprise travel driving motor in the travel mechanism; Described rushing board mechanism comprises push pedal, drives the push pedal driving mechanism of described push pedal campaign, and is arranged on the clamping limb mechanism in the described push pedal, and described push pedal driving mechanism comprises the push pedal drive motor, and described clamping limb mechanism comprises the clamping limb drive motor; It is characterized in that described travel driving motor, push pedal drive motor, clamping limb drive motor are servomotor, described control system is as any described control system in the claim 1 to 5.
7. the motion control method of intelligent vehicle carrier, it adopts as any described control system in the claim 1 to 5 and controls the intelligent vehicle carrier described in the claim 6, it is characterized in that, by described DSP module management logic flow, and carry out the specific implementation and the logic output of logic by described logical operation module.
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