基于嵌入式技术的轻小型落地抱杆自动控制系统研究
Research on the Automatic Control System of Light and Small Ground Holding Poles Based on Embedded Technology
邹麒 1张亦大 1徐强1
作者信息
- 1. 国网江苏省电力有限公司宿迁供电分公司,宿迁 223800
- 折叠
摘要
该文在分析轻小型落地抱杆结构的基础上,设计基于嵌入式技术的轻小型落地抱杆自动控制系统框架,由基础数据单元采集轻小型落地抱杆运行数据后,控制单元的嵌入式主控制器调用变频调速控制程序实现起升电机运行速度的控制,通过模糊PID控制器实现吊钩负载转矩补偿控制,并利用粒子群算法对控制器参数作在线实时整定,通过CAN总线将控制指令下达给各工作机构,并利用以太网实现与远程控制中心的信息交互.实验结果表明,该系统可实现轻小型落地抱杆自动控制,控制后的阶跃响应曲线平滑、超调量低,控制时间短,输出的模拟电压曲线走势稳定、平滑度高,不存在振荡问题.
Abstract
On the basis of analyzing the structure of light and small ground holding poles,a framework for the auto-matic control system of light and small ground holding poles based on embedded technology is designed.After the basic data unit collects the operating data of the light and small ground holding poles,the embedded main controller of the control unit calls the variable frequency speed control program to control the operating speed of the lifting motor.The hook load torque compensation control is achieved through a fuzzy PID controller,and use particle swarm optimization algorithm to perform online real-time tuning of controller parameters,issue control instructions to various working mechanisms through CAN bus,and use Ethernet to achieve information exchange with remote control centers.The experimental results show that the system can achieve automatic control of light and small ground holding poles,with smooth step response curves,low overshoot,short control time,stable and smooth output analog voltage curves,and no oscillation problems.
关键词
嵌入式技术/负载转矩补偿/特高压组塔/变频调速/模糊PID控制/粒子群算法Key words
embedded technology/load torque compensation/ultra high voltage tower assembly/variable frequency speed regulation/fuzzy PID control/particle swarm optimization(PSO)引用本文复制引用
基金项目
国网江苏省电力有限公司孵化项目(JF2022023)
出版年
2024
NETL
NSTL
万方数据