The Research On Digital Signal Fault Diagnosing Platform For The Roboticized Construction Machinary Controller

Based on the references and the predecessors'researches, the digital signal fault diagnosis platform for the roboticized construction machinary controller was designed. The main issue was how to implement the test, analysis and fault diagnosis of the digital signal and hardware and software in the thesis"Research on the Ultrasonic Obstacle Avoidance and Inertial Navigation system of Mobile Robot".Focusing on the hardware circuit design, the digital signal fault diagnosis platform was implemented, by using MSP430F135 as the main microcontroller. Making use of high-frequency and programmable advantages of CPLD chip XC95144XL, the internal complex logic circuit was designed in the CPLD. Based on the chip CP2102, the USB interface circuit was designed. Thereinto, the design of interior logic circuit in the CPLD and the simulation are the difficulties and key points of system design. The internal logic circuit in the CPLD mainly contains the trigger identification circuit and the control module circuit, among these, trigger identification was the primitive function. The trigger identify circuit implements many kinds of trigger modes, such as stochastic triggering, channel triggering, external triggering, sequence triggering, combination triggering as well as combination of external triggering with channel triggering, sequence triggering, combination triggering respectively. In addition, the power modules, the clock circuit, a threshold level circuit and the USB interface circuit were implemented. In the circuit design, to solve the problem of the mixed logic levels in the system, a level translation circuit with dual-supply level shifters 74 LVC4245 was used.For the development of software, code of communications interface module was programmed. On the other hand, by using the LabVIEW language, combining the concept of Virtual Instrument, the interface of fault diagnosis system was implemented, in which it could set the initial conditions of trigger, trigger mode and work mode to observe and analyze the data captured and diagnose the fault of the target system.