CN106774021A - Large-scale air bag vibration isolation device CAN network control system - Google Patents
Large-scale air bag vibration isolation device CAN network control system Download PDFInfo
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- CN106774021A CN106774021A CN201710083117.4A CN201710083117A CN106774021A CN 106774021 A CN106774021 A CN 106774021A CN 201710083117 A CN201710083117 A CN 201710083117A CN 106774021 A CN106774021 A CN 106774021A
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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
- G05B19/0423—Input/output
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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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
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
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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]
Abstract
The present invention relates to a kind of large-scale air bag vibration isolation device CAN network control system, match somebody with somebody two electric connectors as the control main website of network node, displacement transducer, gas source module, inflation/deflation control module, composition loop network control structure is connected in series by dual CAN bus and dual power supply line shielded cable, each node passes through CAN network exchange information；Two sections of cables of all node connections are mutually redundant, and cable inside CAN and power line are also mutually redundant；CAN cable, the bus control unit of service cable and each node, transceiver in loop network control structure use redundant configuration.The present invention is capable of achieving the on-line monitoring to data such as air bag vibration isolation device attitude, gasbag pressures；Strong antijamming capability, redundancy are high, intelligence degree is high, flexible configuration.It is applicable to be monitored reliability, suitable dress property, maintainability and environmental suitability requirement large-scale air bag vibration isolation device attitude high on-line and balance control in industry, ship domain.
Description
Technical field
The present invention relates to a kind of large-scale air bag vibration isolation device CAN network control system.
Background technology
The industrial circle and shipbuilding industry higher to large-sized power plant vibration isolation requirement, can be significantly using air bag vibration isolation device
Relaxation equipment vibrates the transmission to basis, obtains the effect better than traditional isolation mounting.However, air bag vibration isolation device has in itself
Low intrinsic frequency characteristic, under the influence of by the factor such as external disturbance power and the leakage of air bag itself gas, air bag vibration isolation device is easy
Deviate statokinetic, produce the vibration isolating effect of larger skew, influence equipment performance and device, wanted especially for there is strict centering
The power-equipment asked, what attitude offsets were produced misaligns may influence equipment to run safety.
Air bag vibration isolation device control system is set up, the data such as device attitude, gasbag pressure are monitored on-line, by adjusting
Section gasbag pressure can be balanced control to device attitude, it is ensured that the stable operation of power-equipment and the excellent vibration isolation effect of device
Really.
Suspension vibration damping is carried out using air spring (i.e. air bag vibration isolator) in automobile and train field at present and height is controlled,
Its control system is mainly made up of control devices such as levelling valve, magnetic valve, proximity switches, such as《Vehicle air suspension damping
Device》(China Patent No.：201010210484.4)、《A kind of composite height control system of air suspension bracket》(China Patent No.：
201110130312.0)、《The attitude of air suspension vehicle maintains device》(China Patent No.：02158789.2)、《Urban railway magnetic suspension
Vehicle air spring suspension system height adjusting method and regulating system》(China Patent No. 200610025187.6),《Compartment is high
Degree automaton》(China Patent No.：200510022452.0).Above-mentioned control system is mainly for rail cars or vehicle
Air suspension be controlled, the control accuracy and system reliability to height are less demanding, and system scale is small, air spring
Quantity is few, also do not consider fault-tolerant design.The power-equipment for having strict demand to vibration isolating effect and posture balancing cannot be applied to
Air bag vibration isolation device.
The patent of the applicant《Intelligent air bag vibration isolation device》(China Patent No.：200910063656.7) set for power
Standby vibration isolation demand, using a kind of control system of centralized configuration, by the direct collection site instrument signal of central controller simultaneously
When controlling the executing agencies such as magnetic valve, but the centerized fusion structure to be applied to large scale, big carrying air bag vibration isolation device, exist
The lower poor anti jamming capability of signal long-distance transmission, reliability reduction, cable laying and maintenance is complicated, the system expandability and flexibly
The defects such as property deficiency.Especially for the ship domain that electromagnetic environment is severe, installation and repairing condition is harsh, it is impossible to meet to large-scale dynamic
Power equipment and transmission system carry out the demand of integral vibration isolation.
CAN technology is the field bus technique that a kind of reliability is high, flexibility is good, real-time, is had been widely used
In fields such as automobile, ship, Aero-Space, Industry Controls.CAN technology is applied to large-scale air bag vibration isolation device, is passed through
The digital transmission of CAN real-time performance on-site signal and the Redundancy Design of system architecture, can effectively improve large-scale air bag every
Vibrating device reliability of operation and intelligent level, further simplied system structure reduce system and install and maintenance cost.
The content of the invention
The purpose of the present invention is directed to above-mentioned present situation, it is desirable to provide a kind of with stronger autgmentability and flexibility, can fit
Large scale, the big air bag vibration isolation device demand for control for carrying scope are answered, possesses fault self-diagnosis, isolation and hot backup work(
Can, it is ensured that equipment safety reliability service, while having good maintainability, support that malfunctioning node is automatically positioned and ID addresses are matched somebody with somebody
Put the large-scale air bag vibration isolation device CAN network control system of function.
The implementation of the object of the invention is, large-scale air bag vibration isolation device CAN network control system, as network section
The control main website of point, displacement transducer, gas source module, inflation/deflation control module configure two electric connectors, by dual CAN bus
And the serial connection of dual power supply line shielded cable, loop network control structure is constituted, each node is believed by CAN network exchange
Breath；Two sections of cables of all node connections are mutually redundant, and cable inside CAN and power line are also mutually redundant；Loop network
Bus control unit, the transceiver of control main website, CAN cable, service cable and each node in control structure are using superfluous
Remaining configuration.
Technique effect of the invention is as follows：
1st, two sets of communication lines and Liang Tao supply lines are concentrated in a branch of multicore cable by insulation shielding material, institute
There is node to circularize network structure by the cable series connection, easy for installation, scalability is strong, can be effectively isolated malfunctioning node；
2nd, functional redundancy is realized in structure and configuration, can keeps logical under any one-stage communication link or cable fault
News and power supply are normal, with reliability very high；
3rd, each node can be realized uploading the automatic data collection of the analog signals such as pressure, displacement, analog signalses are overflowed,
Broken string and communication link failure carry out Autonomous test, and can be according to fault mode automatic switchover communication link；Each node is using unification
Electrical interface and communications protocol, it is ensured that the management of reliable and rational in infrastructure；
4th, using a kind of gesture stability algorithm can automatic separating fault node and failure air bag, according to different failure moulds
Formula, reconfigures gasbag pressure distribution, so as to the balance for realizing isolation mounting attitude is controlled, system is had preferable robustness
And adaptivity ability；
5th, scheme is automatically configured using a kind of node ID, different number sections is distributed according to node type, purposes, repaired
During replacing, the control secondary node changed by Network Recognition of main website simultaneously carries out the pairing of ID addresses, improves the versatility of module
And standardization level, simplify maintenance flow.
6th, using control sequential management algorithm, each air bag is filled, the time delay of pressure-releasing electromagnetic valve, unlatching, the sequential such as protection are entered
Row optimal design-aside, improves system control efficiency, reduces the instantaneous power demands of system in parallel control.
Simple structure of the present invention, flexibility is good, reliability is high, intelligence degree is high, easy to maintenance；For range scale
Greatly, the large-scale air bag vibration isolation device that air bag quantity is more, control node is disperseed, running environment is harsh has reliability very high, spirit
Activity and scalability are that industry and the control of the large-scale air bag vibration isolation device of ship domain provide new solution route.
Brief description of the drawings
Fig. 1 is schematic network structure of the invention；
Fig. 2 is control main website internal structure schematic diagram；
Fig. 3 is air bag vibration isolation device schematic layout diagram；
Fig. 4 is air bag vibration isolator and inflation/deflation control module pipeline catenation principle figure；
Fig. 5 inflation/deflation control module SECO figures.
Specific embodiment
The present invention is described in detail in detail with reference to the accompanying drawings.
Reference picture 1, as the control main website 5 of network node, displacement transducer 2, gas source module 4, inflation/deflation control module 3
Two electric connectors of configuration, are connected in series by dual CAN bus and dual power supply line shielded cable 1, composition loop network control knot
Structure, by CAN network exchange information.
Loop network control structure is easy for installation, scalability strong, can be effectively isolated malfunctioning node.Loop network control knot
Bus control unit, the transceiver of control main website, CAN cable, service cable and node in structure use redundant configuration, can
Kept in communication under any one section of cable fault and powered and be normal, with reliability very high.Each network node configures two electricity
Connector, can ensure to communicate under any one-stage communication link or service cable failure and power normally.Each network node can
Realize uploading the automatic data collection of the analog signals such as pressure, displacement, analog signalses spilling, broken string and communication link failure are entered
Row Autonomous test, and the hot redundancy feature of communication link can be realized according to fault mode automatic switchover communication link.
Reference picture 2, being integrated with the control main website 5 mainly includes Programmable Logic Controller 6, flat board industrial computer 7 and gateway
Module 8, flat board industrial computer 7 is connected by PROFIBUS buses 9 with gateway module 8, Programmable Logic Controller 6, and gateway module 8 passes through
CAN 10 connects electric connector 11.
Flat board industrial computer realizes data syn-chronization by PROFIBUS buses 9 and Programmable Logic Controller, and is responsible for man-machine interaction
And data management.Gateway module 8 connects electric connector 11 by CAN 10, and Programmable Logic Controller is total from CAN as main controlled node
Line network extraction is performed control algolithm and is concurrently supplied gas capsule charge and discharge by status informations such as device for vibration insutation attitude, source of the gas and gasbag pressures
Gas control instruction, realizes the interface conversion of CAN interface equipment and control main website inside PROFIBUS networks.
Control main website is designed using the functional redundancy of 7 pairs of host computer control structures of Programmable Logic Controller 6 and flat board industrial computer, and two
Platform main frame is responsible for the cores times such as system control by PROFIBUS high-speed bus interactive information, under normal circumstances Programmable Logic Controller
Business, flat board industrial computer is responsible for man-machine interaction and data administration tasks, and when Programmable Logic Controller breaks down, flat board industrial computer can
Take over system control.Control main website improves equipment using functional redundancy design in the case where system hardware cost reasons are not increased
Operational reliability.
Described displacement transducer 2, inflation/deflation control module 3, gas source module 4 have been internally integrated MCU control module, have led to more
Road AD conversion module and set bus transceiver, realize the superfluous of analog signal collection in worksite, diagnosis, data upload and communication link
It is remaining.
Reference picture 2,3,4, institute's displacement sensors 2 have selected the ZR81 types current vortex sensor to be carried out with MCU control module
Integration Design, arranges pedestal and by between device for vibration insutation, and the altitude information of place measuring point is uploaded into CAN network, by
The reception processing of control main website 5, for detecting and uploads height of the device in the point to CAN network.
The inflation/deflation control module 3 is using integral type valve seat and the Integration Design of MCU control module.The inflation/deflation
Control module 3 connect loading line and air bag vibration isolator 12, be integrated with inflation/deflation control module gas source interface, inflatable interface,
Two air bag vibration isolator gasbag pressures can be monitored by deflation interface, and by internal solenoid valve control inflatable interface and gas
The connection of source interface and inflatable interface and the connection of air, realize airbag aeration, deflation function.
The gas source module 4 is serially connected on loading line, connection control main website 5 and external air source, by loading line
Pressure data and external air source pressure data are uploaded to CAN network, by the reception processing of control main website.For detecting outside
Pressure in source of the gas and loading line.
Reference picture 5, intelligent control unit 9 is changed by monitoring airbag aeration, blow off pressure, and whether diagnosis magnetic valve is normal
Open；By the current value of detection sensor Measurement channel, displacement transducer overflow, underflow and disconnection fault are judged.Above-mentioned event
Barrier reports to CAN network.
Intelligent control unit 9 is monitored to gasbag pressure change, counts, analyzes, automatic rejection air inlet, exhaust process pair
The influence of gasbag pressure, it is accurate to calculate the quantity of gas leakage produced by air bag utricule or pipe interface leakage, realize air bag gas leakage
On-line fault diagnosis.
Using the present invention, control main website 5 gathers each node and uploads information, calls control algolithm and power management algorithm, counts
The unlatching sequential of each magnetic valve is calculated, and SECO instruction is distributed to each intelligent control unit 9 and performed.
Flat board industrial computer 7 exchanges information, and finishing man-machine interaction work(with Programmable Logic Controller 6 by PROFIBUS networks
Can, and it is whether normal by CAN network monitor Programmable Logic Controller 6.Detecting the failure of Programmable Logic Controller 6 or disconnection
Under network condition, system control is taken over.
The CAN procotol application layer of the CAN network includes the definition of ID addresses, type of message definition, section
The description of point working condition, control sequential management etc., make network have very strong on-line maintenance ability and intelligent level, also ensure
The reliability of network transmission.
CAN procotol application layer ID addresses are defined as：Control main website 5, displacement transducer 2, gas source module 4 and fill
The all types of network nodes such as deflation control module 3 are assigned the ID address fields of regulation, and in addition to main website 5 is controlled, each node possesses 2
Individual continuous ID addresses, wherein the AD request of data of odd address response control main website 5, the control of even address response control main website 5
Instruction.The spare part of all types of nodes is also assigned the ID address fields of regulation, is easy to control main website 5 to control and personnel's maintenance management.
Node ID address configuration scheme is shown in Table 1.
The node ID address configuration of table 1
Monitored according to control system and two big functional requirements of control, control main website is inquired about by remote frame to node odd address
The data such as displacement, pressure, after the odd address of each node receives remote frame, the sensors A D numbers arrived by data frame uploading detection
According to the data frame format is shown in Table 2.
The AD data transmission formats of table 2
Control main website sends control instruction and is shown in Table 3 by data frame to node even address, and control instruction includes：Change node
ID addresses, control node I/O channel, query node working condition etc., after each node even address receives control instruction, perform control
Action, and the state that the instruction is performed is uploaded by data frame.
The control instruction form of table 3
| Byte 0 (is transmitted) at first | 1~byte of byte 7 |
| Instruction code | Command information |
Cause that instantaneous power is excessive, system control rings for the multiple magnetic valves for avoiding each inflation/deflation control module are opened simultaneously
Overshoot is answered, the SECO instruction for defining the I/O channel of inflation/deflation control module 3 is shown in Table 4, when inflation/deflation control module 3 is received
During sequence control instruction, opens solenoid valve after postponing Td for a period of time, after the Tc times to be opened reach, automatically reset magnetic valve,
New IO control instructions are not received in the Tp times.Its sequential is as shown in Figure 5.
The SECO instruction form of table 4
Operation principle of the invention is：The present invention will be distributed across controller on large-scale air bag vibration isolation device and a large amount of
Measurement module, control module are attached by the shielded cable 1 of an integrated dual CAN bus and dual power supply line, composition annular
Network structure.The MCU units that each measurement and control module are internally integrated are independent to realize measurement by on-site data gathering, analysis
The presence states monitoring of instrument and control element and fault diagnosis.
The pose refinement control algolithm by setting up optimization object function, iterative search optimum pressure adjusts path, most
The equilibrium of device posture balancing and each gasbag pressure is realized eventually, and its algorithm is as follows：
Define the target function of air bag optimum pressure distribution：
Wherein, piIt is the gasbag pressure that numbering is i, N is air bag number, psiIt is i air bags optimal pressure ideally
Power.
Definition device posture balancing target function：
Wherein, d is attitude control accuracy, uδIt is the measured value and the deviation composition of ideal value of each displacement transducer measuring point
Vector.Obviously, Jh<When 1, device meets statokinetic requirement.
It is assumed that each pressure adjustment amount of air bag is Δ p (to take just, deflation takes negative for inflation).Gasbag pressure adjustment causes
The response of device attitude can be represented by equation below：
uδ(i)=Δ pLi
Wherein LiIt is the response matrix of i air bags, is determined by its coordinate position in systems.
If after system proceeds to kth time adjustment, above-mentioned performance indications are respectively Jp(k)、JhK (), is carrying out+1 tune of kth
When whole, the key issue that control algolithm needs are solved is：Search for suitable air bag i to be adjusted, meet itWhile,Minimum, step is as follows：
(1) if Jh(k)<1, then system reach posture balancing requirement, algorithm terminates；Otherwise need to carry out k+1 adjustment.
(2) makeFix a breakdown air bag and traversed air bag, search | λi| maximum air bag number is carried out
Adjustment.After calculating adjustment
(3) ifControl action, return to step (1) then are performed to i air bags；Conversely, excluding No. i
Air bag, return to step (2) is continued search for.
Control main website 5 reads the measurement data and status information of each node of network, calls control algolithm and control sequential pipe
Adjustment method, sends airbag aeration, the SECO instruction deflated, and adjusts each gasbag pressure, realizes that device posture balancing is controlled.By
Multiple air bag parallel control can be realized in control sequential.
The present invention have strong antijamming capability, redundancy is high, intelligence degree is high, maintenanceability good, flexible configuration, control
Speed is fast, high precision, it is low in energy consumption the characteristics of.
The present invention is industry, ship domain is large-scale and ultra-large type dynamical system air bag vibration isolation device reliable even running is carried
Solution route is supplied, networking vibration isolation technique level intelligent to raising China novel ship is significant.
The technology contents that the content not being described in detail in specification is well known to those skilled in the art.
Claims (10)
1. large-scale air bag vibration isolation device CAN network control system, it is characterised in that：As the control main website of network node,
Displacement transducer, gas source module, inflation/deflation control module configure two electric connectors, by dual CAN bus and dual power supply line screen
Cable series connection is covered, loop network control structure is constituted, each node passes through CAN network exchange information；All nodes connect
The two sections of cables for connecing are mutually redundant, and cable inside CAN and power line are also mutually redundant；Control in loop network control structure
Bus control unit, the transceiver of main website processed, CAN cable, service cable and each node use redundant configuration.
2. large-scale air bag vibration isolation device CAN network control system according to claim 1, it is characterised in that：Control
It is integrated with main website including Programmable Logic Controller, flat board industrial computer and gateway module, flat board industrial computer passes through PROFIBUS buses
It is connected with gateway module, Programmable Logic Controller, gateway module connects electric connector by CAN.
3. large-scale air bag vibration isolation device CAN network control system according to claim 1, it is characterised in that：Source of the gas
Inside modules are integrated with MCU control module, multichannel AD conversion module and set bus transceiver, realize that analog signal scene is adopted
The redundancy of collection, diagnosis, data upload and communication link.
4. large-scale air bag vibration isolation device CAN network control system according to claim 1, it is characterised in that：It is described
Displacement transducer carries out Integration Design with ZR81 types current vortex sensor and MCU control module, is arranged in pedestal and by vibration isolation
Between equipment, the altitude information of place measuring point is uploaded to CAN network, by the reception processing of control main website.
5. large-scale air bag vibration isolation device CAN network control system according to claim 1, it is characterised in that：It is described
Displacement transducer is arranged in pedestal and by between device for vibration insutation, and the altitude information of place measuring point is uploaded to CAN by displacement transducer
Bus network, by the reception processing of control main website.
6. large-scale air bag vibration isolation device CAN network control system according to claim 1, it is characterised in that：It is described
Inflation/deflation control module is using integral type valve seat and the Integration Design of intelligent control unit.
7. according to claim 1 or described large-scale air bag vibration isolation device bus network control system, it is characterised in that：It is described to fill
Deflation control module connect loading line and air bag vibration isolator, be integrated with inflation/deflation control module gas source interface, inflatable interface,
Deflation interface.
8. according to claim 1 or described large-scale air bag vibration isolation device bus network control system, it is characterised in that：The gas
Source module is serially connected on loading line, connection control main website and external air source, by the pressure data in loading line and outside
Bleed pressure data are uploaded to CAN network, by the reception processing of control main website.
9. large-scale air bag vibration isolation device bus network control system according to claim 1, it is characterised in that：The CAN
The CAN procotol application layer of bus network is defined including the definition of ID addresses, type of message, node working condition is described,
Control sequential is managed.
10. the large-scale air bag vibration isolation device bus network control system according to claim 1 or 8, it is characterised in that：CAN
Bus network agreement application layer ID addresses are defined as：Control main website, displacement transducer, gas source module and inflation/deflation control module are each
Type network node distribution has the ID address fields of regulation, and each node outside control main website 5 possesses two continuous ID addresses, its
The AD request of data of middle odd address response control main website, the control instruction of even address response control main website.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114110080A (en) * | 2021-11-09 | 2022-03-01 | 湖南弘辉科技有限公司 | Air bag vibration isolation device |
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