摘要
针对拖拉机作业机组自动驾驶控制要求,基于ISO 11783提出了一种分布式控制系统结构模型,其主总线完成整机通信和系统监控,子系统分总线完成部件控制。该模型属于多总线互连、分层管理的网络控制系统方式,具有数字化、模块化强的特点。运用TrueTime工具仿真该模型,各任务可调度。与单处理器集中控制方式不同,由于子系统采用了分总线,系统的控制性能由网络协议和控制算法综合决定。试验结果表明,系统的网络控制性能与仿真分析一致,可以有效地完成控制任务。
With the purpose of autonomous control for tractor-implement combination,a structural model based on ISO 11783 for distributed control system was presented.The main-bus of the model organized the whole system communicating and monitoring.The sub-bus took charge of the sub-system control.The model was designed by the interconnection network,multi-layer and multi-bus control method,which was easy to be digitalized and modularized.The control tasks were schedulable according to the model using TrueTime method.Different from single processor concentrative control method,the control performance of system was determined by the network protocol and the control algorithm according to the sub-bus of the sub-system.Consistent with the results of simulation,the test revealed that the distributed control system could be effectively operated to accomplish the control tasks.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2011年第12期182-185,196,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
"十一五"国家科技支撑计划资助项目(2006BAD11A01)
关键词
拖拉机
分布式控制系统
多总线互连
结构模型
Tractor
Distributed control system
Multi-bus interconnection
Structural model
