Research And Development Of Tracked Construction Machinery Driving Controller And Data Communication System

Under the background of the development of airport pavement forming machines,according to the actual intelligent driving requirements of airport construction machinery and the concept of bus distribution,this paper designs the driving controller and data communication system of crawler intelligent machinery.This article mainly carried out the following work:The running state motion analysis of the crawler-type construction machinery was carried out,and the relationship between the kinematic parameters of the crawler-type construction machinery and the motor speed during the driving process was obtained.Taking into account the slip,the relationship between the speed of the bilateral motor and the yaw rate is obtained,and the Simulink simulation is performed to obtain a simplified relationship that is applied to the feedback signal of the fully automatic operation module.The data communication system structure based on CAN bus is proposed,the hardware interface and communication mode of each module are designed,and the sensor and human-computer interaction layer modules are built based on this.In response to the communication requirements,a CAN bus protocol module was designed.The module has a variety of optional input interfaces in the hardware design and has the characteristics of optocoupler isolation.This module uses μC/OS-II operating system for multi-thread programming on the software,and realizes the conversion of multiple data communication terminal data frames between multi-vendor software protocols and CAN custom protocols.The system reduces the workload of the driving controller and enhances the adaptability of the system.Using NI-Crio 9042 as the driving controller,adopting the concept of state machine to design the overall software framework.In the software module design,the NI-XNET function library is used to realize the full-duplex communication of the CAN bus,and the self-check alarm module is realized according to the CAN protocol;in the manual mode,Zigbee is used for on-site wireless communication.The module realizes the mechanical transition function and adjustable control parameters,which is convenient for on-site debugging;the fully automatic driving module analyzes a more accurate feedback signal according to the simplified yaw rate formula,and uses the fuzzy PID control based on the image straight forward correction built by the FUZZY LOGIC and NI Vision tools;through the two-level threshold Set,realize the safety brake module based on radar group.Trial-produced CAN bus protocol module and built a test platform.Through CAN analysis software,verify the periodic reporting and interactive functions of the data communication system.The crawler-type construction machinery test prototype was tested in a simulated environment,and the functions of each module were analyzed and verified through the data collected in the protocol module.