基于CAN总线的900t轮胎式提梁机分布式控制系统

CAN-bus-based distributed control system for 900-ton pneumatic beam gantry cranes

900t轮胎式提梁机是高速铁路建设的重要装备,由于其控制系统具有空间分布散、控制对象多、功能复杂等特点,故其控制系统是整体设计的关键.论述了在提梁机上设计3层网络构架体系的分布式控制系统以及分布式控制系统策略.通过数学建模,针对网络延时,说明了分布式控制系统对比例-积分-微分控制算法(PID)运用的影响.在TrueTime中对所设计的控制系统和策略进行了建模并仿真,得到所设计的控制系统稳定可靠的结果.

The 900 t pneumatic beam gantry crane is one of the key equipments for high-speed railway construction. Due to its distributed occupation, multiple control objects and complex functions, the control system secures a crucial position in crane design. In this regard, a three-tier network structure is proposed for the distributed control system and relevant strategies. By establishing the mathematical model, the impact on time-delaying controller area network （CAN） is speculated based on the proportional integral-differential （PID） control strategy. Then, the control system is modeled and simulated using TrueTimeTM. Finally, this system is proven stable and reliable.