Design And Research Of Network Control System For Grider Transporting Vehicle

Powered platform vehicle is a heavy engineering machine, which is widely used in the construction of road and bridge, ship manufacturing and other fields. It is a essential and special equipment in the transportation of big component. With the prosperous development of China's economy in the military, bridges, machinery, shipbuilding, metallurgy and petrochemical industry and other fields, heavy equipment and heavy transport structure of the installation tasks increase sharply. The demand for powered platform vehicle will increase year by year. And the requirements of payroad has also been rising.From the use of terms, the platform vehicle which used for transporting grider is also known as grider transporting vehicle. It is a special vehicle equipment integrated with mechanical, electronic and hydraulic technology. The control system is a multi-task cooperative system integrated with hydraulic drive, hydraulic suspension, hydraulic steering technology. From actual operation of the industrial panel computer, it controls the driver, steering, straight, and other motion mode, in order to move flexibly and smoothly.In the paper, in reference girder transporting vehicle at home and abroad on the basis of advanced technology, the overall plan of the control system has been presented according to functional requirements and requirements of the development control system. The background, researching object and significance, and the research and application status of the powered platform vehicle technology at home and abroad has been briefly introduced in the first section. At the same chapter, the summary of this subject is also brought out. Then the CAN bus technology applied to the grider transporting vehicle has been introduced .The system design of hardware and software has been completed in the next parts.The EPEC PLC,which applied to the engineering design has been choosen to use in the system. The controller is special used for the poor working conditions and IP protection levels are relatively high. The I/O configuration and corresponding circuit design has been finished in the paper according to the actual demand. Simultaneously ,the I / O initialization procedure, each node initialization procedures and functions of the preparation process have been finished. In the course of practical operation system, the single-master structure of CANopen can not satisfy the need. By the reaserch on the structure and characteristics of the distributed network ,it raises another network configuration to solve the master-slave control question and it applies to the four-module system successfully.When the four module are running together to transport a heavy object, it requires that the output power of the four trolleys engines is consistent. Otherwise,the pressure from heavy object to each module is unequare, and it leads to four vehicle engine's load unevenly. Then it results in putting out the fire once exceeding engine fixed power. The thesis has interpred the cause and arises a control design to solve the problem based on the theory.