CN104678818A - Oil filling hose pipe automatic coiling and uncoiling control system based on DSP (digital signal processor) - Google Patents
Oil filling hose pipe automatic coiling and uncoiling control system based on DSP (digital signal processor) Download PDFInfo
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- CN104678818A CN104678818A CN201310626292.5A CN201310626292A CN104678818A CN 104678818 A CN104678818 A CN 104678818A CN 201310626292 A CN201310626292 A CN 201310626292A CN 104678818 A CN104678818 A CN 104678818A
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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
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
The invention relates to an oil filling hose pipe automatic coiling and uncoiling control system based on a DSP (digital signal processor). The oil filling hose pipe automatic coiling and uncoiling control system comprises a photoelectric isolation part, a motor driving part, a position detection and speed feedback part and a human-machine interaction module, wherein the system hardware is provided with two modules, namely a TMS320F2812 minimum system board and a function board. The oil filling hose pipe automatic coiling and uncoiling control system based on the DSP aims at solving the problem that the operation of dragging an oil filling hose pipe by workers cannot be suitable for the current working because a shipboard aircraft may be parked at a place away from an oil filling terminal unit as far as possible. The hardware is designed with the photoelectric isolation part, the motor driving part, the position detection and speed feedback part and the human-machine interaction part; the software mainly comprises system clock source setting, GPIO (general purpose input/output) port configuration, PWM (pulse width modulation) wave programs, LCD (liquid crystal display) displaying, PID (proportion integration differentiation) control algorithms and the like.
Description
Technical field
What the present invention relates to is a kind of motor closed loop servo-control system, particularly a kind of refueling hose automatic deploying and retracting control system based on DSP.
Background technology
Along with the tonnage of mother ship carrier increases, deck carrier-borne aircraft quantity also gets more and more, and it is more and more far away that carrier-borne aircraft may rest in distance refueling terminal device.Rotating by manpower the method that rotating disk realizes refueling hose folding and unfolding and become the needs being more and more not suitable with work at present, so need design flexible pipe folding and unfolding automaton in the past.Refueling hose automatic winding-unwinding system is the dial rotation being driven refueling hose by electric machine rotation, by realizing reaching steady folding and unfolding to the control of motor speed, utilizing the distance that photoelectric code disk turns over to measure rotating disk simultaneously, putting in place to realize folding and unfolding accurately.
Aircraft carrier is the sharp weapon of defending the motherland, can be described as the trump card in war, and efficiency is won the victory key often in war, so must efficiency be considered when designing, refueling hose control system is exactly the one design of increasing work efficiency, it relative to manual rotation's motor rotating disk not only high the but also retracting hose speed of precision fast adjustable while can also measure disk position, be applicable to the oiling of multiple environment, if time is pressing, system can allow motor full speed operation, contrary telephone system also have the oiling mode of low-speed stable.
Summary of the invention
The object of the invention is to increase in order to the tonnage overcome along with mother ship carrier, deck carrier-borne aircraft quantity also gets more and more, carrier-borne aircraft may rest in distance refueling terminal device and more and more far will become the problem being more and more not suitable with work at present by manpower to the work pulling refueling hose, provides a kind of refueling hose automatic deploying and retracting control system based on DSP.
The object of the present invention is achieved like this:
Hardware design of the present invention comprises: Phototube Coupling part, motor driving part divide, position is detected and the hardware components such as velocity feedback part and man-machine interaction.Software for Design aspect mainly comprises system clock source setting, the configuration of GPIO mouth, PWM wave-path sequence, LCD display, pid control algorithm etc.The main target of refueling hose automatic deploying and retracting Control System Design is: control direct current torque motor and drive swivel disc loaded, reach given rotating speed fast and accurately and make flexible pipe reach target location simultaneously.The Hardware Design is divided into two large modules, is respectively TMS320F2812 minimum system plate and feature board.Whole system has following functions: 1. inner have certain control algolithm; 2. the Rotating speed measring to motor and position metering is completed; 3. control signal can be produced and drive motor; 4. the simultaneous display of the current rotating speed of motor and the number of turns is completed.Wherein, control algolithm part and output control signal can be completed by TMS320F2812, and detecting portion is served as by photoelectric code disk, display section LCD12864 module, the control information input through keyboard of input.
The control flow of native system is very clear and definite: when after staff's start up system, first, and realize inputting the set-point of system by the button in human-computer interaction module, this wherein comprises rotating speed of target and rotation direction two parts; Then, by internal algorithm in DSP, calculate to the input control amount of motor, and have DSP control chip output pwm signal ripple and direction signal to motor-drive circuit, photoelectric code disk detects the rotating speed of load and the turned number of turns simultaneously, feeds back to DSP; Finally, DSP carries out PID control according to the difference between current rotating speed and rotating speed of target, the pwm signal dutycycle that adjustment exports and direction; Final goal rotating speed, current rotating speed and the current number of turns are presented on liquid crystal display by display module, realize the observation of personnel to system.
The present invention also comprises:
The major part of refueling hose control system comprises dsp processor, topworks's (direct current torque motor), controlled device (refueling hose), feedback element (photoelectric encoder) etc., whole system is formed a closed loop feedback system by these devices, and the close-loop feedback control algolithm according to Theory of Automatic Control can carry out effective in real time control to system.
PID inputs e (t) and output u (t) pass in controlling is:
Wherein K
pfor proportional gain factor, T
ifor integration time constant, T
dfor derivative time constant.
Three parameter Kp, Ti and Td in pid control algorithm are mainly changed in system debug.System does not need to control in advance, thus derivative time Td value be 0, what namely in fact system adopted is PI control algolithm, only need resize ratio gain Kp and integral time Ti.Kp determines the overshoot of position coordinates, and Ti determines the regulating time of system, and through debugging repeatedly, when the value obtaining Kp is 3.3, the value of Ki is 0.18, system has good rapidity and accuracy, and the steady-state error of system can control within 0.5%.
Advantage of the present invention utilizes DSP as the controller of oily flexible pipe automatic deploying and retracting control system, the tonnage overcome along with mother ship carrier increases, deck carrier-borne aircraft quantity also gets more and more, carrier-borne aircraft may rest in distance refueling terminal device more and more far by manpower to pull the difficulty of the work of refueling hose, improve efficiency.
Accompanying drawing explanation
Fig. 1 is the structure composition frame chart of refueling hose control system;
Fig. 2 is main program flow chart of the present invention.
Embodiment
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Composition graphs 1, Fig. 1 is the structure composition frame chart of refueling hose control system.Hardware design of the present invention comprises: Phototube Coupling part, motor driving part divide, position is detected and the hardware components such as velocity feedback part and man-machine interaction.Software for Design aspect mainly comprises system clock source setting, the configuration of GPIO mouth, PWM wave-path sequence, LCD display, pid control algorithm etc.The main target of refueling hose automatic deploying and retracting Control System Design is: control direct current torque motor and drive swivel disc loaded, reach given rotating speed fast and accurately and make flexible pipe reach target location simultaneously.The Hardware Design is divided into two large modules, is respectively TMS320F2812 minimum system plate and feature board.Whole system has following functions: 1. inner have certain control algolithm; 2. the Rotating speed measring to motor and position metering is completed; 3. control signal can be produced and drive motor; 4. the simultaneous display of the current rotating speed of motor and the number of turns is completed.Wherein, control algolithm part and output control signal can be completed by TMS320F2812, and detecting portion is served as by photoelectric code disk, display section LCD12864 module, the control information input through keyboard of input.
Composition graphs 2, Fig. 2 is main program flow chart of the present invention.Design of System Software mainly comprises: pwm signal program design, speed detecting program design, human-computer interaction programming, PID program design four part.After system starts, first initialization is carried out to system, liquid crystal display initialization, QEP(quadrature coding pulse input circuit) circuit initializes, PWM send initialization, read QEP(quadrature coding pulse input circuit), carry out position calculation, PID controls, PWM carries out liquid crystal display after exporting, and continues circulation from the reading of QEP.
In human-computer interaction module, the data transmission of LCD12864 LCD MODULE is provided with parallel transmission and serial transmission two kinds of modes, and what adopt in the present system is serial transmission.Serial transmission can save interface, and owing to being not Long Distant Transmit, therefore itself and the parallel mode gap on the transmission time is negligible.
In liquid crystal display subroutine the most basis and important be exactly writing of byte transmission subroutine, it is the basis writing data and write order.The initialization subroutine of mainly I/O mouth define program and LCD in liquid crystal display program.In initialize routine, each step all adds time delay, with the speed of matching fluid crystal display internal RAM.
Claims (3)
1. the refueling hose automatic deploying and retracting control system based on DSP, its composition comprises: Phototube Coupling part, motor driving part divide, position is detected and velocity feedback part and human-computer interaction module, wherein the Hardware Design is divided into two large modules, is respectively TMS320F2812 minimum system plate and feature board.
2. a kind of refueling hose automatic deploying and retracting control system based on DSP according to claim 1, is characterized in that DSP carries out PID control according to the difference between current rotating speed and rotating speed of target, the pwm signal dutycycle that adjustment exports and direction; Final goal rotating speed, current rotating speed and the current number of turns are presented on liquid crystal display by display module, realize the observation of personnel to system.
3. a kind of refueling hose automatic deploying and retracting control system based on DSP according to claim 1, it is characterized in that the major part of refueling hose control system comprises dsp processor, direct current torque motor, refueling hose, feedback element, photoelectric encoder, whole system is formed a closed loop feedback system by these devices, and the close-loop feedback control algolithm according to Theory of Automatic Control can carry out effective in real time control to system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310626292.5A CN104678818A (en) | 2013-11-29 | 2013-11-29 | Oil filling hose pipe automatic coiling and uncoiling control system based on DSP (digital signal processor) |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310626292.5A CN104678818A (en) | 2013-11-29 | 2013-11-29 | Oil filling hose pipe automatic coiling and uncoiling control system based on DSP (digital signal processor) |
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| CN104678818A true CN104678818A (en) | 2015-06-03 |
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| CN201310626292.5A Pending CN104678818A (en) | 2013-11-29 | 2013-11-29 | Oil filling hose pipe automatic coiling and uncoiling control system based on DSP (digital signal processor) |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105078450A (en) * | 2015-08-24 | 2015-11-25 | 华南理工大学 | Health service robot capable of achieving electroencephalogram detection |
| CN105082149A (en) * | 2015-08-24 | 2015-11-25 | 华南理工大学 | Health service robot capable of achieving oxyhemoglobin saturation detection |
| CN105310686A (en) * | 2015-08-24 | 2016-02-10 | 华南理工大学 | Health-service robot capable of achieving electrocardiograph detection |
-
2013
- 2013-11-29 CN CN201310626292.5A patent/CN104678818A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105078450A (en) * | 2015-08-24 | 2015-11-25 | 华南理工大学 | Health service robot capable of achieving electroencephalogram detection |
| CN105082149A (en) * | 2015-08-24 | 2015-11-25 | 华南理工大学 | Health service robot capable of achieving oxyhemoglobin saturation detection |
| CN105310686A (en) * | 2015-08-24 | 2016-02-10 | 华南理工大学 | Health-service robot capable of achieving electrocardiograph detection |
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Application publication date: 20150603 |