Research And Design Of Flat Digging Controller Based On DSP And CAN Bus

This thesis based on the analysis of the function relation of lifting and openclosed rope grab quantity about time at the grab flat digging, realized based on DSPand CAN bus automatic flat dig control system.Through the transformation and design of fixed crane in the institute of logisticsof automatic Wuhan University of Technology, we completed the automatic grab flatdig test platform. After the experiment of prophase grab excavating sand on the shore,we designed and implemented based on DSP and CAN bus flat dig control system toprovide technical support for the new intelligent big grab dredger prototype.This thesis first introduces the increasing need of the construction ofinfrastructure such as piers,submarine gas pipeline in our country, and this requiresthe bottom of the sea has high smoothness, but in our country which has the functionof flat dig grab dredger development is slow, so is necessary to design new type grabdredger, then expounds from three aspects to carry on the design and improvement.This thesis introduces the distributed control and the information acquisition systemin the application of grab dredger. Considering the harsh environment at sea andocean current, distributed control mode can not only improve the real-timeperformance of the system, but also be able to use more intelligent algorithm, thesehave the effect of the disturbance compensation for the system. Against interferencefactors, the system needs to adopt more sensors for detection, then these sensors isnetworked by using CAN bus. Due to the sensor using the RS232/485interface, soyou need to design protocol converter to convert the output data of the sensor. Finallythis thesis designed the flat dig controller of the distributed control system, the flatdig controller is mainly used in previous trials. Although the flat dig controllersoftware program does not take into account the sea interference factors, but becauseit uses the modular programming design, so only in the later design with disturbancecompensation algorithm module to replace the existing can directly use.In the last chapter of the thesis, first of all, CAN communication module of theflat digging controller program were designed and made a physical simulation toverify its feasibility. And then we designed the function program of the flat digging, combined with wuhan university of technology institute of logistics grab test platformon the test, after many times of the parameter setting, and system can achieve stableoperation to verify the feasibility of the scheme. According to the real-time detectionof lifting and open closed line feedback value, we plot their trajectory curve drawing.In the process of debugging of offshore project running late we may revise givenvalues for the trajectory curve.