Research On Control System Of Track Vehicle System

The transformation and upgrading of the country's economy and people's longing for a better life place higher demands on the intelligence of enterprise manufacturing,warehouse storage automation,hospital logistics automation and library access automation.In order to meet the above requirements,there is an urgent need to establish an automated and intelligent logistics transmission system to save manpower and material resources,improve transportation efficiency,shorten transportation time,and reduce transportation costs.The Track Vehicle System has the advantages of sufficient space utilization,high reliability and safety,large single load,high transmission efficiency,easy use and maintenance,etc.which has a very broad market prospect at home and abroad.Based on the research of other scholars,this paper studies the control system of the Track Vehicle System.First of all,the key technologies of the control system are studied.An electronic map construction scheme based on the RFID positioning scheme is proposed,and the types and functions of RFID tags and the distribution strategies of the tags on the track are studied.It analyzes sub-regional control structure and sub-device control structure,which are two kinds of distributed control system structures,and summarizes their respective advantages and disadvantages.Based on debugging and system requirements,the overall architecture of the control system is built with sub-device control structure.The selection method of the weighted directed graph in the electronic map is given,and the Floyd algorithm and method of generating control labels,which control various devices in the system such as vehicles and shunters,are described.Based on the characteristics of the distributed control system,the CAN bus that effectively supports distributed control and embedded systems is selected to build communication network of the control system.After that,the hardware design of the control system is studied.The overall hardware architecture design of the control system is given.Based on the STM32 embedded platform,the hardware design scheme of the car-controller and node-controller is given.The features of the peripherals,method of signal acquisition and method of driver control are analyzed.Besides,the software design of the control system is studied.The design schemes of the software modules for node-controller and car-controller are given,the features of each software module is analyzed and the control flow chart of each software is given.According to the communication requirements of the control system,the structure of the CAN messages are given and the specific meaning of the messages content are defined,node-controller,car-controller and PC complete the sending and parsing of data according to the agreed message format to achieve data transmission between each other.Finally,the basic unit of the control system is tested and verified on the physical platform to verify the feasibility of the system design scheme and the actual operating effect.