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针对网络化操纵控制的大型工程车辆高性能协调控制的需求,开发研制实时性好、可重构性好、配置灵活和便于开发人员使用的现场总线网络节点及其验证平台,从而提升大型工程车辆的操纵控制性能,缩短操纵控制系统的开发周期。选择CycloneII作为主控制器硬件电路核心,针对大型平板车辆,分别从车辆的行走系统、转向系统和调平系统的原理出发,确定系统状态监测的特征信号量,以及相应的报警和故障判定规则。搭建控制器的测试与验证平台,基于LabWindow/CVI开发上位机监控软件,验证结果表明所开发的主控制器节点能够满足CAN总线网络操纵控制系统的实时性要求。
To meet the demand of high-performance coordinated control of large-scale engineering vehicles with networked control, a field bus network node with good real-time performance, good reconfigurability, flexible configuration and convenient for developers is developed and verified, Control performance, shorten the development cycle of the control system. CycloneII is selected as the core of the main controller hardware circuit. According to the principle of the vehicle’s walking system, steering system and leveling system, for large flat-panel vehicles, the characteristic signal quantity of the system condition monitoring and corresponding alarm and fault decision rules are determined. Based on LabWindow / CVI, the host computer monitoring software was developed. The verification results show that the developed main controller node can meet the real-time requirements of CAN bus network operation and control system.