基于CAN总线的摊铺机自动找平控制系统

王欣; 苟伟成; 焦生杰

基于CAN总线的摊铺机自动找平控制系统

长安大学道路施工技术与装备教育部重点实验室, 陕西西安 710064

基金项目:

国家高技术研究发展计划项目 2001AA422013

详细信息

作者简介:
王欣(1974-), 女, 河北藁城人, 长安大学讲师, 工学博士, 从事机电液一体化控制及工程机械智能化控制研究

中图分类号: U415.521
计量
- 文章访问数: 391
- HTML全文浏览量: 118
- PDF下载量: 211
- 被引次数: 0
出版历程
- 收稿日期: 2006-05-27
- 刊出日期: 2006-12-25

Auto-leveling control system of paver based on CAN bus

Key Laboratory for Highway Construction Technology and Equipment of Ministry of Education, Chang'an University, Xi'an 710064, Shaanxi, China

More Information

Author Bio:
Wang Xin(1974-), female, PhD, lecturer, 86-29-82334496, small.2003@tom

摘要

摘要: 为提高路面摊铺平整度, 研究了一种基于CAN总线的多点(多探头) 非接触式摊铺机自动找平系统, 给出了系统总体结构、CAN节点的硬件电路及软件主要流程, 采用多重滤波方法进行数据处理, 滤除摊铺机作业过程中偶然因素造成的跳点数据, 提高系统的抗干扰性能。采用该找平系统对单探头和多探头找平方式进行了对比试验, 结果表明多探头方式找平效果优于单探头方式; 与接触式自动找平系统对比实验表明采用该找平系统中面层平整度平均值较接触式提高了3.2%, 上面层提高了7.8%。
- 道路工程 /
- 路面摊铺机 /
- 自动找平控制系统 /
- CAN总线
Abstract: In order to improve the smoothness of road paving, a multi-point (multi-probe) non-touching auto-leveling control system based on CAN (control area network) bus was developed, the structure of the system, the circuit of CAN node and the main flow charts of CAN node software were given, multi-filtering algorithm was employed to eliminate the wild data during road paving process, so that the disturbance attenuation performance of the system was improved.Comparison test result shows that the leveling effect of multi-probe is more effective than single-probe.Compared with touching auto-leveling system, the paving smoothness of intermediate surface layer is increased by 3.2%, and upper surface layer by 7.8% with the system.
- road engineering /
- road paver /
- auto-leveling control system /
- CAN bus

HTML全文

图 1 自动找平系统结构

Figure 1. Structure of auto-leveling system

下载: 全尺寸图片幻灯片

图 2 CAN节点结构

Figure 2. Structure of CAN node

下载: 全尺寸图片幻灯片

图 3 CAN节点电路

Figure 3. Circuit of CAN node

下载: 全尺寸图片幻灯片

图 4 主程序流程

Figure 4. Flow chart of main program

下载: 全尺寸图片幻灯片

图 5 接收中断程序流程

Figure 5. Flow chart of receiving interruption

下载: 全尺寸图片幻灯片

图 6 数据运算过程

Figure 6. Operating procedure of data

下载: 全尺寸图片幻灯片

图 7 找平实验结果

Figure 7. Leveling test result

下载: 全尺寸图片幻灯片

表 1 实验数据

Table 1. Experimental data

路面层	实验对象	路面平整度均值(每一数据为60个检测点的平均值) /mm
中面层	接触式	0.83	0.54	0.82	1.07	0.90	0.67	0.58	0.60	0.87	0.94	0.70	0.71	0.66	0.61
中面层	非接触式	0.72	0.52	0.85	0.70	0.83	0.59	0.87	0.70	0.78	0.86	0.64	0.64	0.65	0.81
上面层	接触式	0.63	0.64	0.54	0.53	0.54	0.87	0.58	0.62	0.56	0.72	0.70	0.60	0.54	0.64
上面层	非接触式	0.55	0.57	0.66	0.51	0.58	0.56	0.60	0.55	0.66	0.55	0.52	0.60	0.55	0.57

下载: 导出CSV

参考文献(11)

[1]	吴成富, 焦生杰, 惠纪庄. 摊铺机自动找平控制系统研究[J]. 筑路机械与施工机械化, 2004, 21(8): 15-17. doi: 10.3969/j.issn.1000-033X.2004.08.006 Wu Cheng-fu, Jiao Sheng-jie, Hui Ji-zhuang. Research on auto leveling control system of paver[J]. Road Machinery& Construction Mechanization, 2004, 21(8): 15-17. (in Chinese) doi: 10.3969/j.issn.1000-033X.2004.08.006
[2]	焦生杰, 余亮, 徐守国. 摊铺机声控找平系统原理[J]. 筑路机械与施工机械化, 2000, 17(5): 7-9. doi: 10.3969/j.issn.1000-033X.2000.05.003 Jiao Sheng-jie, Yu Liang, Xu Shou-guo. Principle of auto-leveling system for paver with sonic control[J]. Road Machinery& Construction Mechanization, 2000, 17(5): 7-9. (in Chinese) doi: 10.3969/j.issn.1000-033X.2000.05.003
[3]	庄月明. 非接触式找平系统在沥青路面摊铺中的应用及研究[J]. 筑路机械与施工机械化, 2005, 22(5): 8-11. doi: 10.3969/j.issn.1000-033X.2005.05.003 Zhuang Yue-ming. Application and research of non-contacting levelling system in asphalt pavement construction[J]. Road Machinery& Construction Mechanization, 2005, 22(5): 8-11. (in Chinese) doi: 10.3969/j.issn.1000-033X.2005.05.003
[4]	孙军, 庄月明, 黄晓明. 非接触式自动找平系统在沥青路面摊铺中的应用[J]. 公路, 2002, 47(6): 48-50. doi: 10.3969/j.issn.1002-0268.2002.06.014 Sun Jun, Zhuang Yue-ming, Huang Xiao-ming. Application of non-touching auto-leveling system in the paving of asphalt road[J]. Highway, 2002, 47(6): 48-50. (in Chinese) doi: 10.3969/j.issn.1002-0268.2002.06.014
[5]	焦生杰, 唐相伟, 刘桦. 智能化摊铺机的发展与现状[J]. 筑路机械与施工机械化, 2004, 21(2): 6-9. doi: 10.3969/j.issn.1000-033X.2004.02.002 Jiao Sheng-jie, Tang Xiang-wei, Liu Hua. Development and status quo of intelligentized paver[J]. Road Machinery & Construction Mechanization, 2004, 21(2): 6-9. (in Chinese) doi: 10.3969/j.issn.1000-033X.2004.02.002
[6]	方俊英, 宋永刚. RSS一种全新的摊铺机自动化找平系统[J]. 筑路机械与施工机械化, 2002, 19(1): 14-15. doi: 10.3969/j.issn.1000-033X.2002.01.006 Fang Jun-ying, Song Yong-gang. RSS a new auto-leveling system for paver[J]. Road Machinery& Construction Mechanization, 2002, 19(1): 14-15. (in Chinese) doi: 10.3969/j.issn.1000-033X.2002.01.006
[7]	惠纪庄, 吴成富, 焦生杰. 基于DSP芯片的接触式自动找平控制器[J]. 长安大学学报: 自然科学版, 2005, 25(2): 90-94. https://www.cnki.com.cn/Article/CJFDTOTAL-XAGL20050200K.htm Hui Ji-zhuang, Wu Cheng-fu, Jiao Sheng-jie. Touched automatic controller for elevation based on DSP[J]. Journal of Chang'an University: Natural Science Edition, 2005, 25(2): 90-94. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-XAGL20050200K.htm
[8]	朱正礼, 殷承良, 张建武. 混合动力车中CAN总线系统的应用[J]. 交通运输工程学报, 2004, 4(3): 90-94. http://transport.chd.edu.cn/article/id/200403021 Zhu Zheng-li, Yin Cheng-liang, Zhang Jian-wu. Application of CAN bus system in hybrid electric vehicle[J]. Journal of Traffic and Transportation Engineering, 2004, 4(3): 90-94. (in Chinese) http://transport.chd.edu.cn/article/id/200403021
[9]	黄运生, 汤勇, 吴运新, 等. CAN总线通信技术在LTU90A智能摊铺机中的应用[J]. 中南工业大学学报: 自然科学版, 2003, 34(5): 532-533. https://www.cnki.com.cn/Article/CJFDTOTAL-ZNGD200305017.htm Huang Yun-sheng, Tang Yong, Wu Yun-xin, et al. Application of CAN bus communication technology in intelligent paver[J]. Journal of Central South University of Technology: Natural Science Edition, 2003, 34(5): 532-533. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-ZNGD200305017.htm
[10]	余张国, 李磊民, 聂诗良, 等.一种基于CAN总线的工程机械通用控制方案[J], 西南科技大学学报, 2004, 19(2): 19-21. doi: 10.3969/j.issn.1671-8755.2004.02.005 Yu Zhang-guo, Li Lei-min, Nie Shi-liang, et al. A general control of engineering machines based on CAN bus[J]. Journal of Southwest University of Science and Technology, 2004, 19(2): 19-21. (in Chinese) doi: 10.3969/j.issn.1671-8755.2004.02.005
[11]	戚建, 陈正祥, 刘国良. CAN总线技术在LTU90A摊铺机控制系统中的应用[J]. 工程机械, 2003, 34(5): 5-7. https://www.cnki.com.cn/Article/CJFDTOTAL-GCJA200305001.htm Qi Jian, Chen Zheng-xiang, Liu Guo-liang. Application of CAN bus technology to control system of LTU90A paver[J]. Construction Machinery and Equipment, 2003, 34(5): 5-7. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-GCJA200305001.htm