﻿ 基于CAN总线的船用起重机自动定位控制系统设计
 舰船科学技术  2019, Vol. 41 Issue (1): 141-144 PDF

Design of the marine crane automatic positioning control system based on CAN bus
CHEN Dong, TANG Zheng, DU Si-yuan
The 713 Research Institute of CSIC, Zhengzhou 450015, China
Abstract: With the development and application of the automation and intelligent technology for industrial, Automation, high efficiency and intelligent control is the major developing directions of the marine crane. For this development trend, this paper designed a set of Marine crane automatic positioning control system based on CAN bus, with the multichannel electro-hydraulic proportional valve as the object, used the encoder to read the real-time position of each degree of crane and coordinate transformation. The paper adopted a fuzzy PID control algorithm, and test on the Labview platform. The experimental results shows that the system operated reliably, realized automatic positioning and control of the crane. Compared with the traditional PID control, the automatic transit time and target positioning accuracy of the crane are improved.
Key words: marine crane     electro-hydraulic proportional valve     CAN bus     fuzzy-PID
0 引　言

1 概述 1.1 起重机结构

 图 1 起重机结构 Fig. 1 Structure of Crane
1.2 CAN总线

2 起重机控制系统总体设计 2.1 控制系统构成

 图 2 控制系统结构 Fig. 2 Structure of control system

2.2 坐标转换

 $\left\{ {\begin{array}{*{20}{c}} {R = Lf \times \cos \beta + L \times \cos (\beta - \gamma ) - r_1}\text{，}\\ {H = Lf \times \sin \beta + L \times \sin (\beta - \gamma ) + h_0}\text{。} \end{array}} \right.$ (1)

 $\left\{ \begin{array}{l} x = R_1 \times \cos (\alpha + \alpha_1)\text{，}\\ y = R_1 \times \sin (\alpha + \alpha_1)\text{，}\\ z = H - rp\text{。} \end{array} \right.$ (2)
2.3 调运策略

3 模糊PID控制设计

 图 3 模糊PID控制 Fig. 3 Fuzzy-PID Control System

 $u = \frac{{\displaystyle\sum\limits_{i = 1}^5 {{S_i} \times {L_i}} }}{{\displaystyle\sum\limits_{i = 1}^5 {{S_i}} }}\text{，}$°

4 试验验证

 图 4 起重机自动定位控制界面 Fig. 4 Crane automatic positioning control interface

 图 5 起重机自动转运位置误差曲线图 Fig. 5 Position error curve of crane automatic transfer

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