CN206594486U - 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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- CN206594486U CN206594486U CN201720139101.6U CN201720139101U CN206594486U CN 206594486 U CN206594486 U CN 206594486U CN 201720139101 U CN201720139101 U CN 201720139101U CN 206594486 U CN206594486 U CN 206594486U
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Abstract
The utility model is related to a kind of large-scale air bag vibration isolation device CAN network control system, as the control main website of network node, displacement transducer, gas source module, inflation/deflation control module with two electric connectors, by dual CAN bus and dual power supply line shielded cable serial connection composition loop network control structure, each node passes through CAN network exchange information；Two sections of cables of all node connections are mutually redundant, and CAN and power line are mutually redundant inside cable；CAN cable, the bus control unit of service cable and each node, transceiver in loop network control structure use redundant configuration.System can realize the on-line monitoring to data such as air bag vibration isolation device posture, gasbag pressures；Strong antijamming capability, redundancy are high, intelligence degree is high, configuration is flexible.It is applicable in industry, ship domain monitor reliability, suitable dress property, maintainability and the high large-scale air bag vibration isolation device posture of environmental suitability requirement on-line and balance is controlled.
Description
Technical field
The utility model is related to a kind of large-scale air bag vibration isolation device CAN network control system.
Background technology
Higher industrial circle and shipbuilding industry are required to large-sized power plant vibration isolation, 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, which misaligns, may influence equipment operation safety.
Air bag vibration isolation device control system is set up, the data such as device posture, gasbag pressure are monitored on-line, by adjusting
Section gasbag pressure can be balanced control to device posture, it is ensured that the stable operation of power-equipment and the excellent vibration isolation effect of device
Really.
Suspension vibration damping and height control are carried out using air spring (i.e. air bag vibration isolator) in automobile and train field at present,
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 posture 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
Spend 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 can not 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
Control the executing agency such as magnetic valve, but the centerized fusion structure is when being applied to large scale, big carrying air bag vibration isolation device, exists
Signal long-distance transmits lower poor anti jamming capability, reliability reduction, cable laying and overhauls the complicated, system expandability and flexible
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, 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, reduction system are installed and maintenance cost.
The content of the invention
The purpose of this utility model is to be directed to above-mentioned present situation, it is desirable to provide a kind of to have stronger autgmentability and flexibility,
Large scale, the air bag vibration isolation device demand for control of big carrying scope are suitable for, possesses fault self-diagnosis, isolation and hot backup
Function, it is ensured that equipment safety reliability service, while having good maintainability, supports malfunctioning node to be automatically positioned and ID addresses
The large-scale air bag vibration isolation device CAN network control system of configuration feature.
The implementation of the utility model purpose is that large-scale air bag vibration isolation device CAN network control system is used as net
The control main website of network node, displacement transducer, gas source module, inflation/deflation control module configure two electric connectors, pass through double CAN
Bus and the serial connection of dual power supply line shielded cable, constitute loop network control structure, each node passes through CAN network exchange
Information；Two sections of cables of all node connections are mutually redundant, and CAN and power line are also mutually redundant inside cable；Ring network
Bus control unit, the transceiver of control main website, CAN cable, service cable and each node in network control structure are used
Redundant configuration.
Technique effect of the present utility model 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 very high reliability；
3rd, each node can realize the automatic data collection upload to analog signals such as pressure, displacements, 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 unified
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 realize the balance control of isolation mounting posture, system is had preferable robustness
And adaptivity ability；
5th, scheme is automatically configured using a kind of node ID, distributes different number sections 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 delay of pressure-releasing electromagnetic valve, unlatching, the sequential such as protection are entered
Row optimal design-aside, improves system control efficiency, the instantaneous power demands of reduction system in parallel control.
The utility model is simple in construction, flexibility is good, reliability is high, intelligence degree is high, easy to maintenance；For yardstick model
Enclose big, air bag quantity is more, control node is scattered, running environment is harsh large-scale air bag vibration isolation device with very high reliability,
Flexibility 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 present utility model；
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.
Embodiment
The utility model is described in detail with reference to the accompanying drawings.
Reference picture 1, is used as the control main website 5 of network node, displacement transducer 2, gas source module 4, inflation/deflation control module 3
Two electric connectors are configured, are connected in series by dual CAN bus and dual power supply line shielded cable 1, composition loop network control knot
Structure, passes through 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
Keep in communication and power under any one section of cable fault and be normal, with very high reliability.Each network node configures two electricity
Connector, can ensure to communicate under any one-stage communication link or service cable failure and power normal.Each network node can
Realize and the automatic data collection of the analog signals such as pressure, displacement is uploaded, analog signalses are overflowed, broken string and communication link failure enter
Row Autonomous test, and the hot redundancy feature of communication link can be realized according to fault mode automatic switchover communication link.
Being integrated with reference picture 2, the control main website 5 mainly includes programmable 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 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 controller, and is responsible for man-machine interaction
And data management.Gateway module 8 connects electric connector 11 by CAN 10, and programmable controller is total from CAN as main controlled node
Line network extraction is performed control algolithm and concurrently supplied gas capsule charge and discharge by status informations such as device for vibration insutation posture, source of the gas and gasbag pressures
Gas control instruction, realizes CAN interface equipment and the interface conversion of PROFIBUS networks inside control main website.
Main website is controlled to be designed using the functional redundancy of 7 pairs of host computer control structures of programmable controller 6 and flat board industrial computer, 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 controller
Business, flat board industrial computer is responsible for man-machine interaction and data administration tasks, and when programmable 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 not increasing system hardware cost reasons
Operational reliability.
Described displacement transducer 2, inflation/deflation control module 3, gas source module 4 have been internally integrated MCU control module, 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 ZR81 types current vortex sensor to be carried out with MCU control module
Integration Design, arranges pedestal and by between device for vibration insutation, the altitude information of place measuring point is uploaded into CAN network, by
The reception processing of main website 5 is controlled, for detecting and uploading 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 be integrated with loading line and air bag vibration isolator 12, inflation/deflation control module gas source interface, inflatable interface,
Two air bag vibration isolator gasbag pressures can be monitored, and pass through internal solenoid valve control inflatable interface and gas by deflation interface
The connection of source interface and the connection of inflatable interface and 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, analyzed, automatic rejection air inlet, exhaust process pair
The influence of gasbag pressure, accurate calculate leaks the quantity of gas leakage produced by air bag utricule or pipe interface, realizes air bag gas leakage
On-line fault diagnosis.
Using the utility model, control main website 5 gathers each node and uploads information, calls control algolithm and power tube to adjust
Method, calculates the unlatching sequential of each magnetic valve, and SECO instruction is distributed into each intelligent control unit 9 performed.
Flat board industrial computer 7 exchanges information, and finishing man-machine interaction work(with programmable controller 6 by PROFIBUS networks
Can, and it is whether normal by CAN network monitor programmable controller 6.Detecting the failure of programmable 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 defined ID address fields, 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 defined ID address fields, 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
Two big functional requirements are monitored and controlled according to control system, and control main website is inquired about by remote frame to node odd address
The data such as displacement, pressure, the odd address of each node is received after remote frame, the sensors A D numbers arrived by data frame uploading detection
According to the data frame format is shown in Table 2.
Table 2AD data transmission formats
Control main website sends control instruction to node even address by data frame and is shown in Table 3, and control instruction includes：Change node
ID addresses, control node I/O channel, query node working condition etc., each node even address are received after 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 |
To avoid multiple magnetic valves of each inflation/deflation control module while opening causes that instantaneous power is excessive, system control rings
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 present utility model is：The control that the utility model will be distributed across on large-scale air bag vibration isolation device
Device and big measurement module, control module are attached by the shielded cable 1 of integrated dual CAN bus and dual power supply a line,
Constitute ring-like network structure.The MCU units that each measurement and control module are internally integrated are independent by on-site data gathering, analysis
Realize measuring instrumentss and the presence states monitoring of control element and fault diagnosis.
The pose refinement control algolithm is 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, piThe gasbag pressure for being i for numbering, N is air bag number, psiFor the optimal pressure of i air bags ideally
Power.
Definition device posture balancing target function：
Wherein, d is attitude control accuracy, uδWhat the deviation of measured value and ideal value for each displacement transducer measuring point was constituted
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).Caused by gasbag pressure adjustment
The response of device posture 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 system proceeds to after kth time adjustment, above-mentioned performance indications are respectively Jp(k)、Jh(k) ,+1 adjustment of kth is being carried out
When, the key issue that control algolithm needs are solved is：Search for suitable air bag i to be adjusted, meet it
While,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.Calculate after 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 to read the measurement data and status information of each node of network, call control algolithm and control sequential pipe
Adjustment method, sends airbag aeration, the SECO instruction deflated, adjusts each gasbag pressure, realizes that device posture balancing is controlled.By
Multiple air bag parallel control can be realized in control sequential.
The utility model has that strong antijamming capability, redundancy are high, intelligence degree is high, maintenanceability is good, configuration is flexible,
Control speed it is fast, precision is high, it is low in energy consumption the characteristics of.
The utility model is industry, ship domain is large-scale and ultra-large type dynamical system air bag vibration isolation device reliable steady fortune
Row provides solution route, and, 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 (8)
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, pass through 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 connect are mutually redundant, and CAN and power line are also mutually redundant inside cable；Control in loop network control structure
Main website processed, CAN cable, the bus control unit of service cable and each node, transceiver 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 controller, flat board industrial computer and gateway module, flat board industrial computer passes through PROFIBUS buses
It is connected with gateway module, programmable 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
Collection, diagnosis, data upload and communication link redundancy.
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. large-scale air bag vibration isolation device CAN network control system according to claim 1, it is characterised in that：It is described
Gas source interface, inflation is integrated with inflation/deflation control module connection loading line and air bag vibration isolator, inflation/deflation control module to connect
Mouth, deflation interface.
8. large-scale air bag vibration isolation device CAN network control system according to claim 1, it is characterised in that：It is described
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
Portion's bleed pressure data are uploaded to CAN network, by the reception processing of control main website.
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| CN201720139101.6U CN206594486U (en) | 2017-02-16 | 2017-02-16 | Large-scale air bag vibration isolation device CAN network control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774021A (en) * | 2017-02-16 | 2017-05-31 | 中国人民解放军海军工程大学 | Large-scale air bag vibration isolation device CAN network control system |
| CN109696823A (en) * | 2018-12-10 | 2019-04-30 | 天津工业大学 | The self-test redundancy control system of wave glider binary signal transmission |
| CN109799758A (en) * | 2019-01-29 | 2019-05-24 | 上海度普新能源科技有限公司 | A kind of CAN bus application system and the method for numbering serial for handling node |
| CN110955187A (en) * | 2019-12-18 | 2020-04-03 | 中国长江电力股份有限公司 | PLC control system and control method for dual power supply and communication of speed regulator hydraulic system |
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2017
- 2017-02-16 CN CN201720139101.6U patent/CN206594486U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774021A (en) * | 2017-02-16 | 2017-05-31 | 中国人民解放军海军工程大学 | Large-scale air bag vibration isolation device CAN network control system |
| CN106774021B (en) * | 2017-02-16 | 2023-10-27 | 中国人民解放军海军工程大学 | CAN bus network control system of large-scale air bag vibration isolation device |
| CN109696823A (en) * | 2018-12-10 | 2019-04-30 | 天津工业大学 | The self-test redundancy control system of wave glider binary signal transmission |
| CN109799758A (en) * | 2019-01-29 | 2019-05-24 | 上海度普新能源科技有限公司 | A kind of CAN bus application system and the method for numbering serial for handling node |
| CN109799758B (en) * | 2019-01-29 | 2024-03-22 | 上海度普新能源科技有限公司 | CAN bus application system and numbering method of processing nodes |
| CN110955187A (en) * | 2019-12-18 | 2020-04-03 | 中国长江电力股份有限公司 | PLC control system and control method for dual power supply and communication of speed regulator hydraulic system |
| CN110955187B (en) * | 2019-12-18 | 2024-06-11 | 中国长江电力股份有限公司 | PLC control system and control method for dual power supply and communication of speed regulator hydraulic system |
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