论文部分内容阅读
智能装载机为适应特殊工作的需要,要求装载机具有远程遥控、智能铲装、控制参数自学习等功能特点。采用了EPEC公司第三代CAN控制系统模块,在CAN总线协议下组建CANOPEN网络,使所有的控制、指令及数据在网络上共享,以实现执行、修正和监视,完成智能化的要求。拟从智能控制的要求及工况实际,在电液控制技术、总线控制技术和软件设计的基础上,分析了该系统的组成,硬件由传感器、电磁阀元件、遥控装置、油门控制装置、原车载故障信息接口和总线控制器(包括一个显示控制器)几个部分组成。控制系统软件设计包括两大部分,一部分是控制器程序设计,采用EPEC控制器专用软件编制,第二部分是显示控制器的编程,采用C语言编制,两部分程序通过接口程序实现数据共享。详细讨论了程序的总体功能,包括:智能减阻铲装控制程序,模拟人工操作的复合式作业;故障诊断;数据及控制指令的在线显示和修正等项。介绍了该系统的实际应用情况和存在的不足。
Intelligent loader to meet the special needs of the work, requiring loader with remote control, intelligent shoveling, control parameters such as self-learning features. EPEC company adopted the third generation of CAN control system module, set up CANOPEN network under the CAN bus protocol, so that all control, instructions and data shared on the network in order to implement, modify and monitor, to complete the intelligent requirements. Based on the requirements of intelligent control and the actual working conditions, the composition of the system is analyzed based on the electro-hydraulic control technology, bus control technology and software design. The hardware consists of sensors, solenoid valve components, remote control devices, throttle control devices, Vehicle fault information interface and bus controller (including a display controller) composed of several parts. Control system software design includes two parts, part of the controller programming, the use of EPEC controller-specific software, the second part is the display controller programming, the preparation of C language, two parts of the program through the interface program to achieve data sharing. Discussed in detail the overall function of the program, including: intelligent drag reduction shovel control program, simulation of artificial operation of complex operations; fault diagnosis; data and control instructions on-line display and correction of such items. The actual application of the system and its shortcomings are introduced.