CN1851592A - Sitebus base power flat transport vehicle multi-mode steering control system - Google Patents

Abstract

The present invention includes main control node module, CAN bus and plurality of site node modules, wherein said main control node module to realize steering mode selection, steering trapezium analyses, state monitoring, to proceed information communication teamwork through CAN bus and site node module to realize each wheel train movement comprehensive; said site node module to realize node servocontrol; said main control node module embedded with steering mode unit, steering trapezium analyses unit and closed loop steering control unit. Said invented steering control system realizes multiple-axle driving vehicle and engineering mechanic variety steering mode based on site bus movement integrated mode. Said Site node module is used as one node in control system, and directly connected with CAN bus, capable of being distributed nearing the controlled object, which greatly reduces connection line number and the wiring being simple and easy maintenance, raising systematical reliability.

Description

The multi-mode steering control system of Fieldbus Based power flat bed transport vehicle

Technical field

The present invention relates to a kind of fluid-link steering control system that is applicable to the power flat bed transport vehicle that many bridges drive, carry out the electric-hydraulic proportion steering mechanism of informix and several distributed arrangement of coordination control by adopting field bus technique.

Background technology

The multi-mode steering control system is the large engineering vehicle of many bridges drivings and the important component part of engineering machinery walking and control system.This class vehicle, because vehicle body is bulky, consider from walking driving, manipulation and control, grounding pressure, structural arrangement equal angles, need a plurality of drivings and catanator distributed arrangement, steering need realize comprising diagonal at the construction field (site), walks crosswise according to the demand of complex job task, the stringer Eight characters turn to (promptly include the first eight, afterwards eight and three of the symmetrical Eight characters turn to), the center the multiple pattern that turns to such as turns to.

At present, in the steering mechanism of oversize vehicle, traditional mechanical integrated modes based on leverage or train that adopt are transmitted in kinematic synthesis between each deflecting roller and motion more.Hydraulic booster, all-hydraulic and electric power steering mainly are to reduce steering force and improve handling quality on mechanical integrated basis, this comprehensive method only can satisfy each wheel Eight characters in the process of moving and turn to (steering trapezium based on leverage is comprehensive) or speed difference to turn to (train is comprehensive), is difficult to realize that other turns to pattern.In addition, can't realizing between each wheel rotates makes the integrated motion of pure rolling to center line, to deflecting roller mechanism design and layout, and the comprehensive relatively difficulty of pattern that turns to that realizes multiple complexity, the wearing and tearing that bring of its driving error simultaneously and impacting the security and the serviceable life of also having reduced vehicle.

Another kind of multiaxial motion comprehensive method is to adopt traditional comprehensive centralized controlling schemes of signal Flight By Wire, and the turn signal that central controller is gathered each resolves each axle steer instruction then and is sent to steering mechanism and realizes turning to.This scheme of the many at present employings of large-sized power flat bed transport vehicle.This scheme is because problems such as the distributed arrangement system that makes of the bulky and a plurality of steering mechanism of vehicle exists that signal is many, difficult wiring and poor anti jamming capability, and Reliability ﹠ Maintainability is all poor.

Along with the development of computer networking technology, the mode that adopts the control of fieldbus and electric-hydraulic proportion to combine realizes that the kinematic synthesis of mechanical drive and control system and control have become possibility.This solution can thoroughly solve the problem that above-mentioned two kinds of schemes exist, and promotes the maneuvering performance of flat bed transport vehicle and large-scale engineering machinery.

Summary of the invention

The multi-mode steering control system that the purpose of this invention is to provide a kind of Fieldbus Based power flat bed transport vehicle, this fluid-link steering control system is carried out the data message of main controlled node module and the transmission of field node module informix and is coordinated control by adopting field bus technique, export then control information to the electric-hydraulic proportion steering mechanism of a plurality of distributed arrangement realize that the stringer Eight characters turns to, walks crosswise, diagonal and center turn to interior and multiplely turn to pattern control, thereby realized that multiaxis under the network environment drives and the coordination control of steered vehicle.

The present invention is a kind of multi-mode steering control system of Fieldbus Based power flat bed transport vehicle, it is characterized in that: comprise main controlled node module, CAN bus and a plurality of field node module, described main controlled node module realizes turning to model selection, steering trapezium parsing, condition monitoring, and carries out the kinematic synthesis that the information communication co-ordination realizes each train by CAN bus and field node module; Described field node module realizes the node servocontrol; Described main controlled node module is embedded with and turns to mode unit, steering trapezium resolution unit and closed loop turning control cell;

The described mode unit that turns to is set with the multi-mode steering model of power flat bed transport vehicle wheel according to the kinematics steering model, and carries out the current pattern information that turns to of matching treatment output of described steering model according to the steering order of pilothouse output; Described steering model is walked crosswise, diagonal, center turn to, stringer Eight characters symmetry turns to, the stringer front axle Eight characters turns to and the stringer rear axle Eight characters turns to;

Described steering trapezium resolution unit is according to the steering wheel angle θ of pilothouse output _wAdopt trapezoidal analytical method to handle the current expectation rotational angle theta that turns to each train of pattern of acquisition with the described current pattern information that turns to _p

Described closed loop turning control cell is according to the expectation rotational angle theta that parses _pCarry out closed loop PID control with the actual rotational angle θ of each train output;

Described main controlled node module is at first gathered the signal of controlling in the pilothouse, and steering order is controlled the judgment processing that signal turns to mode unit goes out the current pattern that turns to; The steering trapezium resolution unit is resolved the expectation rotational angle theta that obtains each train to the bearing circle signal and the current pattern that turns to that receive _p

Described field node module is gathered the actual rotational angle θ of wheel and is given the closed loop turning control cell of described main controlled node module by the CAN bus transfer by angular displacement sensor; The expectation rotational angle theta of closed loop turning control cell to receiving _pCompare the acquisition deviation signal with actual rotational angle θ; Described deviation signal obtains the controlled quentity controlled variable of each train through the PID computing, and then issues to each electric-hydraulic proportion steering mechanism by the CAN bus and to control instruction, rotates thereby drive rotary disk control train.

The multi-mode steering control system of described Fieldbus Based power flat bed transport vehicle, its main controlled node module comprises PC/104 industrial control computer, ADP800 type capture card and PC-CAN card.

The multi-mode steering control system of described Fieldbus Based power flat bed transport vehicle, its field node module comprise that the chip model is the single-chip microcomputer of 89C51, CAN interface circuit, photoelectric isolating circuit and signals collecting, conditioning and the amplifying circuit that the chip model is PCA89C250.

The advantage of fluid-link steering control system of the present invention is: (1) realizes the multiple pattern that turns to of many bridges powered vehicle and engineering machinery satisfying the construction needs in narrow place in Fieldbus Based kinematic synthesis mode, improves operating efficiency effectively; (2) satisfy the pure rolling principle in the steering procedure, the friction loss of having avoided tyre skidding to cause; (3) arrangement of mechanism is greatly convenient, for the modularization manufacturing of vehicle has brought convenience; (4) can obtain a large amount of status informations easily by fieldbus, carry out informix and handle, help the co-ordination of Vehicular turn, walking and operating system, intelligent control and condition monitoring and fault diagnosis; (5) the field node module is directly hung on the CAN bus as a node in the control system, can be arranged in nearby near the controlled device, greatly reduce wiring quantity and wiring and simply be easy to safeguard, shorten the production cycle, reduce manufacturing and operating cost, improved the reliability of system; (6) Fieldbus Based control platform is easy to expansion, for the combination between the vehicle and cluster operation provide convenience.

Description of drawings

Fig. 1 is the hardware block diagram of main controlled node module of the present invention.

Fig. 2 is the hardware block diagram of field node module of the present invention.

Fig. 3 is that the present invention turns to the control information structured flowchart.

Fig. 4 is an electric-hydraulic proportion steering mechanism synoptic diagram.

Fig. 5 A is the stringer symmetry Eight characters steering structure synoptic diagram of each train.

Fig. 5 B is the stringer front axle Eight characters steering structure synoptic diagram of each train.

Fig. 5 C is the stringer rear axle Eight characters steering structure synoptic diagram of each train.

Fig. 5 D be each train walk crosswise the steering structure synoptic diagram.

Fig. 5 E is the diagonal steering structure synoptic diagram of each train.

Fig. 5 F is the center steering structure synoptic diagram of each train.

Embodiment

The present invention is described in further detail below in conjunction with accompanying drawing.

The present invention is a kind of multi-mode steering control system of Fieldbus Based power flat bed transport vehicle, comprise main controlled node module, CAN bus and a plurality of field node module (referring to Fig. 1, shown in Figure 2), described main controlled node module realizes turning to model selection, steering trapezium parsing, condition monitoring, and carries out the kinematic synthesis that the information communication co-ordination realizes each train by CAN bus and field node module; Described field node module realizes the node servocontrol; Described main controlled node module is embedded with and turns to mode unit, steering trapezium resolution unit and closed loop turning control cell;

Referring to shown in Figure 3, the described mode unit that turns to, be set with the multi-mode steering model of power flat bed transport vehicle wheel according to the kinematics steering model, and carry out the current pattern information that turns to of matching treatment output of described steering model according to the steering order of pilothouse output; Described steering model is walked crosswise, diagonal, center turn to, stringer Eight characters symmetry turns to, the stringer front axle Eight characters turns to and the stringer rear axle Eight characters turns to; Described steering trapezium resolution unit is according to the steering wheel angle θ of pilothouse output _wAdopt trapezoidal analytical method to handle the current expectation rotational angle theta that turns to each train of pattern of acquisition with the described current pattern information that turns to _pDescribed closed loop turning control cell is according to the expectation rotational angle theta that parses _pCarry out closed loop PID control with the actual rotational angle θ of each train output;

Described main controlled node module is at first gathered the signal of controlling in the pilothouse, and steering order is controlled the judgment processing that signal turns to mode unit goes out the current pattern that turns to; The steering trapezium resolution unit is resolved the expectation rotational angle theta that obtains each train to the bearing circle signal and the current pattern that turns to that receive _p

Described field node module is gathered the actual rotational angle θ of wheel and is given the closed loop turning control cell of described main controlled node module by the CAN bus transfer by angular displacement sensor; The expectation rotational angle theta of closed loop turning control cell to receiving _pCompare the acquisition deviation signal with actual rotational angle θ; Described deviation signal obtains the controlled quentity controlled variable of each train through the PID computing, and then issues to each electric-hydraulic proportion steering mechanism (referring to shown in Figure 4) by the CAN bus and to control instruction, rotates thereby drive rotary disk 5 control trains.

In the present invention, the main controlled node module is responsible for controlling signals collecting and realizing that each train motion model resolves and closed loop turns to control of pilothouse; The collection of described field node module charge completion signal, transmission information are to the host computer of described main controlled node module and accept the order of host computer, and sending controling instruction is to field level equipment.The principle of work of fluid-link steering control system is: the main controlled node module is at first gathered and is controlled signal (being arranged on the control panel in the pilothouse) in the pilothouse, and steering order is controlled signal handle, and judges the current pattern that turns to; The steering trapezium resolution unit is resolved the expectation corner that obtains each train according to bearing circle signal and the current pattern that turns to; The angular displacement sensor of field node module is gathered the actual rotational angle of wheel and is turned to control module for the closed loop of main controlled node by the CAN bus transfer; Closed loop turns to control module that expectation corner and the actual rotational angle that receives compared the acquisition deviation signal, the controlled quentity controlled variable of each train is exported in the PID computing of carrying out closed loop, and then issue corresponding instruction to each field node by the CAN bus, thereby driving train, control electric-hydraulic proportion control steering mechanism rotates; This control procedure constantly circulates, and traces into until each train and expects that corner or duty change; Fieldbus Based control system, except finishing control task, also have the ability of the various information of overall treatment, can show in real time that vehicle body turns to attitude, in addition self-checking function can ALCL Assembly Line Communication Link, the fault of control module and input/output port, provide alerting signal.

In the present invention, shown in Fig. 5 A～Fig. 5 F, according to the kinematics steering model set turn to pattern to comprise to walk crosswise, diagonal, center turn to, stringer Eight characters symmetry turns to, the stringer front axle Eight characters turns to and the stringer rear axle Eight characters turns to, with the car working direction is forward, bearing circle transfers positive dirction to counter clockwise direction, and bearing circle transfers negative direction to clockwise direction.Turn to the direction in the pattern and the mark of wheel to define, can be divided into left side wheel group and right side wheels group according to travel direction.With eight-wheeler is example, illustrates that the various kinematicss of pattern that turn to resolve.

(1) walks crosswise and be meant that whole wheels rotate 90 degree (shown in Fig. 5 D) to same direction, satisfy $\left\{\begin{array}{c}{\mathrm{\α}}_i={\mathrm{\β}}_i=90,\\ i=\mathrm{1,2,3,4}\end{array}\right.,$ In the formula, α _iThe corner of expression left side wheel group, β _iThe corner of expression right side wheels group, i represents the label of wheel.

(2) diagonal is meant that whole wheels rotate (0,90) degree (shown in Fig. 5 E) to positive dirction or negative direction, satisfy $\left\{\begin{array}{c}{\mathrm{\α}}_i={\mathrm{\β}}_i=i_w{\mathrm{\θ}}_w,\\ i=\mathrm{1,2,3,4}\end{array}\right.,$ In the formula, α _iThe corner of expression left side wheel group, β _iThe corner of expression right side wheels group, θ _wThe expression steering wheel angle, i _wExpression α _iAnd θ _wBetween ratio of gear, i represents the label of wheel.

(3) Eight characters turns to and is meant turning center point o _eRotate,

Its stringer symmetry Eight characters turns to (shown in Fig. 5 A) to satisfy $\left\{\begin{array}{c}{\mathrm{\α}}_1=i_w{\mathrm{\θ}}_w,\\ R=1.5L{\cot \mathrm{\α}}_1+0.5B,{\tan \mathrm{\α}}_2=\frac{0.5L}{R-0.5B},\\ {\tan \mathrm{\β}}_1=\frac{1.5L}{R+0.5B},{\tan \mathrm{\β}}_2=\frac{0.5L}{R+0.5B},\\ {\mathrm{\α}}_3=-{\mathrm{\α}}_2,{\mathrm{\α}}_4=-{\mathrm{\α}}_1,{\mathrm{\β}}_3=-{\mathrm{\β}}_2,{\mathrm{\β}}_4=-{\mathrm{\β}}_1\end{array}\right.,$ In the formula, B represents the lateral shaft spacing, and L represents the longitudinal axis spacing, and R represents turning center o _eTo the distance of car body longitudinal center axis, α ₁The corner of representing first left side wheel, α ₂The corner of second left side wheel of expression, α ₃The corner of representing the 3rd left side wheel, α ₄The corner of representing the 4th left side wheel, β ₁The corner of representing first right side wheels, β ₂The corner of second right side wheels of expression, β ₃The corner of representing the 3rd right side wheels, β ₄The corner of representing the 4th right side wheels, θ _wThe expression steering wheel angle, i _wExpression α _iAnd θ _wBetween ratio of gear;

Its stringer front axle Eight characters turns to (shown in Fig. 5 B) to satisfy $\left\{\begin{array}{c}{\mathrm{\α}}_1=i_w{\mathrm{\θ}}_w,\\ R=3L\cot {\mathrm{\α}}_1+0.5B,{\tan \mathrm{\α}}_2=\frac{2L}{R-0.5B},\\ {\tan \mathrm{\α}}_3=\frac{L}{R-0.5B},{\mathrm{\α}}_4=0,\\ {\tan \mathrm{\β}}_1=\frac{3L}{R+0.5B},{\tan \mathrm{\β}}_2=\frac{2L}{R+0.5B},\\ {\tan \mathrm{\β}}_3=\frac{L}{R+0.5B},{\mathrm{\β}}_4=0,\end{array}\right.;$

Its stringer rear axle Eight characters turns to (shown in Fig. 5 C) to satisfy $\left\{\begin{array}{c}{\mathrm{\α}}_4={-i}_w{\mathrm{\θ}}_w,\\ R=3L\cos \left|{\mathrm{\α}}_4\right|+0.5B,{\mathrm{\α}}_1=0,\\ {\tan \mathrm{\α}}_2=-\frac{L}{R-0.5B},{\tan \mathrm{\α}}_3=-\frac{2L}{R-0.5B},\\ {\mathrm{\β}}_1=0,\tan {\mathrm{\β}}_2=-\frac{L}{R+0.5B},\\ {\tan \mathrm{\β}}_3=-\frac{2L}{R+0.5B},{\tan \mathrm{\β}}_4=-\frac{3L}{R+0.5B},\end{array}\right..$

(4) center turns to and is meant around car body central point o _cRotate, satisfy $\left\{\begin{array}{c}{\tan \mathrm{\α}}_1=-\frac{3L}{B},{\tan \mathrm{\α}}_2=-\frac{L}{B},\\ {\tan \mathrm{\β}}_1=\frac{3L}{B},{\tan \mathrm{\β}}_2=\frac{L}{B},\\ {\mathrm{\α}}_3=-{\mathrm{\α}}_2,{\mathrm{\α}}_4=-{\mathrm{\α}}_1,{\mathrm{\β}}_3=-{\mathrm{\β}}_2,{\mathrm{\β}}_4=-{\mathrm{\β}}_1\end{array}\right.,$ In the formula, B represents the lateral shaft spacing, and L represents longitudinal axis spacing, α ₁The corner of representing first left side wheel, α ₂The corner of second left side wheel of expression, α ₃The corner of representing the 3rd left side wheel, α ₄The corner of representing the 4th left side wheel, β ₁The corner of representing first right side wheels, β ₂The corner of second right side wheels of expression, β ₃The corner of representing the 3rd right side wheels, β ₄The corner of representing the 4th right side wheels, θ _wThe expression steering wheel angle, i _wExpression α _iAnd θ _wBetween ratio of gear.

In the present invention, so-called trapezoidal parsing is owing to the sequencing that is set in the kinematics model that turns to mode unit defines, and is defined as first kinematics model as walking crosswise, and diagonal is defined as second kinematics model or the like.The trapezoidal analytical method of steering trapezium resolution unit is to carry out according to the steering order that pilothouse is exported, when the steering order of pilothouse output when walking crosswise, at first from turn to mode unit, find first kinematics model (walking crosswise) that is complementary, and export the current pattern that turns to this, promptly walk crosswise command information; When the steering order of pilothouse output is that the stringer symmetry Eight characters turns to Shi Zecong to turn to find the 4th kinematics model (the stringer symmetry Eight characters turns to) in the mode unit, export stringer symmetry Eight characters steering order information again.

The technical solution adopted for the present invention to solve the technical problems is: steering mechanism's distributed arrangement, and power liquid passes, and each sub-steering (chassis of driving and two kinds of patterns of driven bogie are arranged on vehicle) is coordinated control by fieldbus and Control Node.This is that a kind of Network Basedization digital servo control technology solves the scheme that turns to problem.

Respectively turn to chassis to have independently vehicle bridge (having driven and two kinds of patterns of driving), hydraulic lift system, pivoting support and electric-hydraulic proportion steering mechanism, each vehicle bridge all links to each other with vehicle frame by hydraulic suspension, wheel shaft is installed on the axle journal of balance arm, the driving shaft that drives vehicle bridge is directly driven by oil motor or drives indirectly by hub reduction gear, and driven vehicle bridge is driven by the active vehicle bridge.Steering adopts load-sensitive type variable output pump as power source, and motor or the hydraulic cylinder of controlling corresponding chassis by the multichannel electro-hydraulic proportional valve rotate rich its revolving shaft of each chassis; Information and kinematic synthesis adopt and realize based on the field bus control system of CAN bus, articulate a plurality of control modules on the CAN bus, wherein main control module is in cab, gather the various signals of controlling, output shows and warning message, carrying out kinematic synthesis resolves, and turn to control task by the closed loop that bus and These field control modules are finished train jointly, These field control modules be arranged in nearby control near the train, mainly according to the vehicle commander, train number and position distribution, factor such as functional requirement and cost determines its quantity and position, the one or more trains of each These field control modules may command, output terminal links to each other with the proportioning valve electromagnet, input end be installed in the angular displacement sensor that train hangs in the rotating shaft and link to each other, and communicate by letter with main control module, as the distal end I/O that has driving force, feed back corner information, receive the output order of main control module simultaneously, drive proportioning valve work; The basic controlling thinking of steering is, the main control module is at first gathered and is controlled signal, judge and turn to pattern (the stringer Eight characters, walk crosswise, diagonal, the center turns to etc.), then according to car load train steering kinematics model and the steering wheel angle set up, parse the expectation corner of each train, receive up-to-date actual train corner by the CAN bus, find the solution the controlled quentity controlled variable output in each loop according to rational closed loop control algorithm, and send corresponding output order to each field control model, thereby control steering mechanism drives train and rotates, this control procedure constantly circulates, and traces into until each train and expects that corner or duty change; Fieldbus Based control system, except finishing control task, also have the ability of the various information of overall treatment, can show in real time that vehicle body turns to attitude, in addition self-checking function can ALCL Assembly Line Communication Link, the fault of control module and input/output port, provide alerting signal.

In the present invention, selected hardware is explained as follows:

One, main controlled node module (monitoring equipment): host computer is selected the PC/104 industrial control computer for use, and it is to be specifically designed to on-the-spot embedded micro industrial control computer, has following characteristics:

The design of ALL-IN-ONE is of a size of 99 * 90 * 16mm, and it is little to take up room; Can adapt to-40 ℃～+ 70 ℃ temperature range, low in energy consumption, need not fan cooled; Have from the modular structure of stack formula, can be stacked; The CPU module is convenient to upgrade, upgrading; And its dominant frequency has the trend of further raising; Have interfaces such as complete liquid crystal display, keyboard, electric board, serial paralled interface, network interface card, can realize friendly user-machine interface; Compatible fully with commercial PC, be easy to finish the debugging and the transplanting of software.

Development environment easily on the PC platform has also reduced development cost, has shortened debugging cycle, is suitable for the particular requirement of the short construction cycle of short run of engineering truck.Host computer is by PC CAN card and CAN bus communication, multi-function data acquisition card (ADP800 is installed on the host computer simultaneously, mould is gone into, timing and digital I/O), the driver is to manipulation (the bearing circle steering of vehicle, the selector switch that JOYSTICK handles on car body attitude and the panel selects to turn to pattern, operating patterns such as gear) signal is passed to host computer by multifunction card, multifunction card receives the operating control signal in the cab, leveling as the car body different azimuth, the setting of the car body speed of travel, combination/the separation of two cars, the operations of master control/pair control etc. are shown in Fig. 2 .11.Host computer is monitored the state and the system information transmissions of each node by moving control and the management that application software realizes being used for bus; Carry out Analysis on Fault Diagnosis, realize man-machine interface input and output (warning, demonstration, inquiry etc.).ADP800 is used for finishing the collection of data in the control procedure, adopt jumper wire device and switch that the range of input quantity is set, and can adapt to-20 ℃～+ 70 ℃ temperature range, it has following characteristics: the single-ended analog quantity input of 6 passages, 12, the A/D transducer of 20 microseconds or 10 microseconds, the per second sampling can reach 40000; Overvoltage protection: ± 35V; Three 16,8MHz timer/counter (or 5MHz); The digital quantity I/O of 24 TTL/CMOS compatibilities; 3 interrupt sources that available jumper wire device is selected; C Programming with Pascal Language interface.

The CAN communication card; Be used for realizing that monitoring equipment is by network and enabling communication between nodes.Communication card adopts the PC104 interface.Its main chip is PCA82C250 transceiver and SJA1000 controller.SJA1000 has basic CAN pattern (BsaicCAN) and strengthens CAN pattern (peliCAN) expanded function, and this paper mainly researchs and develops basic CAN pattern.Fig. 2 .14 is the schematic diagram of CAN communication card.

Two, field node module (node on the CAN bus): the charge completion signal collection, transmission information is to host computer and accept the order of host computer, and sending controling instruction is to field level equipment.Each field node module is integrated together by single-chip microcomputer, CAN interface circuit, signals collecting, conditioning and amplifying circuit etc.In the present invention, they finish AI (analog input), AO (analog input), DI (digital quantity input) and DO work such as (digital quantity outputs) respectively.Be depicted as one of them field node modular circuit structured flowchart as Fig. 2 .12.Interface controlling and driving chip adopts the PCA82C250 of PHILIPS company, and controller chip adopts SJA1000, and internal processor adopts 51 series monolithics, and bottom software solidifies in sheet.PCA82C250 and SJA1000 isolate by photoelectricity and improve antijamming capability, and they finish the function of Physical layer and data link layer, and application layer is finished by 51 single-chip microcomputers.Control function is encapsulated, improved each reliability of nodes of control system and antijamming capability, reduced the dispersiveness of fault, also for ease of maintenaince replace simultaneously.Wherein, according to different signals, peripheral interface circuit has different forms, mainly comprises analog signals and switching value steering logics such as pressure, corner, inclination angle.For example,, then include PWM output and electric current output function,, include signal condition and amplitude transformation circuit etc. for sensor data acquisition for being used to drive hydraulic servo.

Signals collecting, conditioning and amplifying circuit, modulate circuit are mainly used in signal filtering, realize amplitude transformation, and input range and capture card are complementary, to improve the precision of analog quantity/digital quantity conversion.Amplification circuits is carried out given signal to be used to drive after the power amplification coil of proportioning valve.

Three, electric-hydraulic proportion steering mechanism, with the control signal that receives change, control ratio valve 1, hydraulic cylinder 2 after the processing and amplifying, hydraulic cylinder 2 pistons one end is connected with rocking arm 3, when piston is made back and forth movement in the hydraulic cylinder 2, drive rocking arm 3 motions, thereby the rotary disk 4 that is connected with independent wheel suspension is rotated.Rotary disk 4 is installed in the actual angle θ of angular displacement sensor 5 its rotations of detection in its axle center when rotating, and exports to the field node module by the signal collection modulation circuit.

Claims (3)

1, a kind of multi-mode steering control system of Fieldbus Based power flat bed transport vehicle, it is characterized in that: comprise main controlled node module, CAN bus and a plurality of field node module, described main controlled node module realizes turning to model selection, steering trapezium parsing, condition monitoring, and carries out the kinematic synthesis that the information communication co-ordination realizes each train by CAN bus and field node module; Described field node module realizes the node servocontrol; Described main controlled node module is embedded with and turns to mode unit, steering trapezium resolution unit and closed loop turning control cell;

The described mode unit that turns to is set with the multi-mode steering model of power flat bed transport vehicle wheel according to the kinematics steering model, and carries out the current pattern information that turns to of matching treatment output of described steering model according to the steering order of pilothouse output; Described steering model is walked crosswise, diagonal, center turn to, stringer Eight characters symmetry turns to, the stringer front axle Eight characters turns to and the stringer rear axle Eight characters turns to;

Described steering trapezium resolution unit is according to the steering wheel angle θ of pilothouse output _wAdopt trapezoidal analytical method to handle the current expectation rotational angle theta that turns to each train of pattern of acquisition with the described current pattern information that turns to _p

Described closed loop turning control cell is according to the expectation rotational angle theta that parses _pCarry out closed loop PID control with the actual rotational angle θ of each train output;

Described main controlled node module is at first gathered the signal of controlling in the pilothouse, and steering order is controlled the judgment processing that signal turns to mode unit goes out the current pattern that turns to; The steering trapezium resolution unit is resolved the expectation rotational angle theta that obtains each train to the bearing circle signal and the current pattern that turns to that receive _p

Described field node module is gathered the actual rotational angle θ of wheel and is given the closed loop turning control cell of described main controlled node module by the CAN bus transfer by angular displacement sensor; The expectation rotational angle theta of closed loop turning control cell to receiving _pCompare the acquisition deviation signal with actual rotational angle θ; Described deviation signal obtains the controlled quentity controlled variable of each train through the PID computing, and then issues to each electric-hydraulic proportion steering mechanism by the CAN bus and to control instruction, rotates thereby drive rotary disk control train.

2, the fluid-link steering control system of Fieldbus Based power flat bed transport vehicle according to claim 1 is characterized in that: described main controlled node module comprises PC/104 industrial control computer, ADP800 type capture card and PC-CAN card.

3, the fluid-link steering control system of Fieldbus Based power flat bed transport vehicle according to claim 1 is characterized in that: described field node module comprises that the chip model is the single-chip microcomputer of 89C51, CAN interface circuit, photoelectric isolating circuit and signals collecting, conditioning and the amplifying circuit that the chip model is PCA89C250.

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