Control System Research Of Target Detection System For Automated Terminals

Along with society's progress and development,industrial automation has become the inevitable trend of industrial development.As the same time,the automation of terminals which is as the hub between sea and land to realize the logistics transportation has also become the hot topic of many countries in the world,including the target detection system which is an important link for itself.Because there are some disadvantage in the existing control system of the target detection system,for example it's high cost and difficult to adapt to the bad working environment of high vibration,temperature and humidity,there is important practical significance to research it.Aimed at researching the target detection system for automated terminals,the overall of target detection system was analyzed at first,and then the control system which is fit for the target detection system was designed.Specific work was completed as the following:First of all,based on the overall design and networking of the target detection system,the requirement including algorithms,software and hardware,performance,communication were analyzed and the overall design of the control system was established.Secondly the CANopen protocol which include the CIA301 communication protocol and CIA402 device protocol was analyzed,and the research is mainly focused on the object dictionary and communication object of CIA301 communication protocol and device control,homing mode and profile position mode of CIA402 device protocol,which laid the foundation for the researching on software of control system.Thirdly in order to ensure the continuity of system,the trapezoid and S-shaped velocity planning algorithm of servo motor were analyzed,and the simulation of this two algorithms were completed by using MATLAB simulation software.The simulation results shows that the velocity planning algorithm could meet the requirement of the continuity and stability.Finally,the controller with DSP TMS320F28335 as main control chip was designed,as well as the software of function modules including CANopen program,motor drive program,velocity measurement program and velocity planning algorithm were developed.Then function of the system,such as CANopen communication and velocity planning,tested through the PC software by combining the hardware and software of this system.The whole test results shows the feasibility of the control system.