單軸抬升車輛搬運器運動控制規(guī)律研究及控制系統(tǒng)開發(fā)
發(fā)布時間：2019-06-20 04:48
【摘要】：在社會飛速發(fā)展的今天,汽車已經(jīng)越來越多的進入千家萬戶成為常見的代步工具,這使得土地資源緊張與汽車保有量激增的矛盾也日趨明顯。傳統(tǒng)的停車設(shè)備由于空間有限已經(jīng)不能滿足日益增長的車輛對停車位的需求,高科技含量和高自動化水平的堆垛式立體車庫正越來越多的進入市場。車輛搬運器作為立體車庫中的重要組成部分,是實現(xiàn)待搬運車輛位置移動的關(guān)鍵�，F(xiàn)存堆垛式立體車庫中車輛搬運器多采用整體抬升方案,即克服待搬運車輛全部重量將其抬離地面。觀察發(fā)現(xiàn)目前仍有許多汽車在駐車制動且變速器置于空擋狀態(tài)下,前輪可以自由轉(zhuǎn)動,針對這一現(xiàn)狀提出了一種新型結(jié)構(gòu)形式的單軸抬升式車輛搬運器。這種搬運器采用只抬升待搬運車輛后輪,利用可自由轉(zhuǎn)動的前輪作為支撐點,以推拉的形式實現(xiàn)待搬運車輛的位置移動。在實驗室同門完成機械結(jié)構(gòu)設(shè)計的基礎(chǔ)上,本文主要研究搬運器各機構(gòu)的運動控制規(guī)律及對其控制系統(tǒng)進行開發(fā)。針對各機構(gòu)的結(jié)構(gòu)特點,分別運用Adams軟件對前輪轉(zhuǎn)向限位機構(gòu)和舉升桿伸出機構(gòu)建立仿真模型研究其動力學特性,并采取Adams與MATLAB/Simulink聯(lián)合仿真的方式對其運動控制規(guī)律進行研究;推導(dǎo)建立出后輪舉升機構(gòu)、防脫限定機構(gòu)和底盤驅(qū)動機構(gòu)的數(shù)學模型,并采用MATLAB/Simulink軟件對其進行動力學仿真和運動控制規(guī)律研究。在得出各機構(gòu)運動規(guī)律特性的基礎(chǔ)上選擇合適的控制方式、策略及能夠滿足控制要求的硬件設(shè)備,并確定其安裝位置;分析對比最終選用PIC16F877A芯片作為控制器,完成控制器最小系統(tǒng)模塊、光電傳感器模塊、旋轉(zhuǎn)編碼器模塊和電機驅(qū)動的硬件電路設(shè)計和接口分配;最后繪制這五個機構(gòu)確定控制方式、繪制控制程序流程圖、編寫軟件程序,主要包括,對PWM模塊、旋轉(zhuǎn)編碼器在位移和速度采集程序的實現(xiàn),以及車輛后輪舉升運動過程中采用PI控制策略的程序?qū)崿F(xiàn)。
[Abstract]:With the rapid development of society, more and more cars have become a common walking tool, which makes the contradiction between the shortage of land resources and the surge of car ownership is becoming more and more obvious. Because the traditional parking equipment can not meet the increasing demand for parking spaces because of the limited space, the high-tech content and high automation level of stacker three-dimensional garage are entering the market more and more. As an important part of the three-dimensional garage, the vehicle carrier is the key to realize the position movement of the vehicle to be carried. In the existing stacker three-dimensional garage, the whole lifting scheme is mostly adopted, that is, to overcome the total weight of the vehicle to be carried and lift it off the ground. It is found that there are still many cars in the parking brake and the transmission is in the condition of no gear, and the front wheel can rotate freely. In view of this situation, a new type of single axle lift vehicle carrier is proposed. This kind of carrier only lifts the rear wheel of the vehicle to be carried, and uses the freely rotating front wheel as the support point to realize the position movement of the vehicle to be carried in the form of push and pull. On the basis of completing the mechanical structure design at the same door in the laboratory, this paper mainly studies the motion control law of each mechanism of the carrier and develops its control system. According to the structural characteristics of each mechanism, the dynamic characteristics of the front wheel steering limit mechanism and the lift rod extension mechanism are studied by using Adams software, and the motion control law of the mechanism is studied by means of joint simulation of Adams and MATLAB/Simulink. The mathematical models of rear wheel lifting mechanism, anti-stripping mechanism and chassis driving mechanism are derived and established, and the dynamic simulation and motion control law of the mechanism are studied by using MATLAB/Simulink software. On the basis of obtaining the characteristics of the motion law of each mechanism, the appropriate control mode, strategy and hardware equipment which can meet the control requirements are selected, and the installation position is determined. Finally, the PIC16F877A chip is selected as the controller to complete the hardware circuit design and interface distribution of the controller minimum system module, photoelectric sensor module, rotary encoder module and motor drive. Finally, the control mode of the five mechanisms is drawn, the flow chart of the control program is drawn, and the software program is compiled, which mainly includes the realization of PWM module, the realization of displacement and speed acquisition program of rotary encoder, and the program realization of PI control strategy in the process of vehicle rear wheel lifting motion.
【學位授予單位】：重慶交通大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：U491.71
本文編號：2502945
[Abstract]:With the rapid development of society, more and more cars have become a common walking tool, which makes the contradiction between the shortage of land resources and the surge of car ownership is becoming more and more obvious. Because the traditional parking equipment can not meet the increasing demand for parking spaces because of the limited space, the high-tech content and high automation level of stacker three-dimensional garage are entering the market more and more. As an important part of the three-dimensional garage, the vehicle carrier is the key to realize the position movement of the vehicle to be carried. In the existing stacker three-dimensional garage, the whole lifting scheme is mostly adopted, that is, to overcome the total weight of the vehicle to be carried and lift it off the ground. It is found that there are still many cars in the parking brake and the transmission is in the condition of no gear, and the front wheel can rotate freely. In view of this situation, a new type of single axle lift vehicle carrier is proposed. This kind of carrier only lifts the rear wheel of the vehicle to be carried, and uses the freely rotating front wheel as the support point to realize the position movement of the vehicle to be carried in the form of push and pull. On the basis of completing the mechanical structure design at the same door in the laboratory, this paper mainly studies the motion control law of each mechanism of the carrier and develops its control system. According to the structural characteristics of each mechanism, the dynamic characteristics of the front wheel steering limit mechanism and the lift rod extension mechanism are studied by using Adams software, and the motion control law of the mechanism is studied by means of joint simulation of Adams and MATLAB/Simulink. The mathematical models of rear wheel lifting mechanism, anti-stripping mechanism and chassis driving mechanism are derived and established, and the dynamic simulation and motion control law of the mechanism are studied by using MATLAB/Simulink software. On the basis of obtaining the characteristics of the motion law of each mechanism, the appropriate control mode, strategy and hardware equipment which can meet the control requirements are selected, and the installation position is determined. Finally, the PIC16F877A chip is selected as the controller to complete the hardware circuit design and interface distribution of the controller minimum system module, photoelectric sensor module, rotary encoder module and motor drive. Finally, the control mode of the five mechanisms is drawn, the flow chart of the control program is drawn, and the software program is compiled, which mainly includes the realization of PWM module, the realization of displacement and speed acquisition program of rotary encoder, and the program realization of PI control strategy in the process of vehicle rear wheel lifting motion.
【學位授予單位】：重慶交通大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：U491.71
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，本文編號：2502945
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