【作者】 李强；

【导师】 谭冠政；

【作者基本信息】 中南大学 ， 控制工程， 2012， 硕士

【摘要】 挖掘机是工程机械中的最主要的产品之一,是国家基础建设中不可或缺的工程装备,其制造技术水平和生产能力代表了国家的工程机械整体水平,也反映着国家装备制造业的整体水平。随着高新技术的竞相引入,尤其是电子控制技术和传感器技术的高速发展,使得挖掘机在节能、高效、作业精度、人机工程和设备信息化等性能上大大提高,其控制系统直接关系到其产品自动化、智能化程度等进而直接影响工程施工的工作效率与工作质量,智能化施工也必然成为工程机械的未来发展方向。本文的主要任务是以湖南山河智能装备集团中挖SWE230为对象研究设计先进的高性能嵌入式挖掘机控制器。本文在深入分析SWE230机体控制点并查阅大量资料,结合国内外工程机械控制器研究成果的基础上,完成了对挖掘机控制器软硬件设计。本设计采用32位的ARM9内核处理器并搭载了稳定的嵌入式Linux2.6内核,扩展了串行口、液晶屏和CAN总线、通用输入输出I/O、A/D等外围接口。该系统可以和机载GPS和仪表设备通信,可随时将车辆状态和定位信息实时显示并发回控制中心,在满足现阶段挖掘机控制系统的功能需求的同时为以后的智能化扩展提供了重要基础和依据。本文详细说明了嵌入式Linux系统平台移植过程中的bootloadei、Linux内核、根文件系统移植开发过程和相关设备驱动开发。本文以湖南山河智能装备集团中挖SWE230为载体,所设计的控制系统最后在实验室和现场进行了严密的仿真和实验,结果表明系统各模块的性能和稳定性都完全达到工程机械行业标准,在抗干扰性方面也表现良好。本设计在专用挖掘机控制系统中引入了先进嵌入式Linux技术,为工程机械控制系统的设计提供了一种新思路,在国内工程机械技术水平落后于西方发达国家的背景下,研究成果对国内工程机械行业具有重要的现实意义。更多还原

【Abstract】 As one of the key products of construction machinery, excavator plays an important role in the construction of national infrastructure. The manufacturing technology and production capacity of excavators not only represent the level of national construction machinery, but also reflect the whole national equipment manufacturing industry. Along with the rapid development of electronic control and sensor technology, the excavator has greatly improved the performance in energy saving, working efficiency, operating precision and so on.As the core component of the excavator, the control system directly is significant to product automation, the degree of intelligence and thus directly affect the construction work efficiency and the quality of work. So intelligent construction is bound to represent the future of the machinery. The main task here is to design a high-performance embedded excavator controller based on the medium excavators of Sunward.After analyzing control points of SWE230and consulting lots of material, this paper completed the design of hardware and software of a controller for excavator, which is based on the research of construction machinery controllers both home and abroad. The design here adopt ARM932-bit processor and embedded Linux2.6core, based on which peripheral interfaces such as serial port, can bus, LED screen, I/O port, A/D and so on, are extended. This system can pass the real-time information of position and working conditions of the excavator to the controlling center. It not only satisfies the request of controlling system at the present stage, but also lays an important base for intelligentization in the future. The transplantation of Embedded Linux is also discussed in detail in this paper.SWE230from Hunan Sunward used as a carrier, this paper introduces embedded Linux to the control system of excavator for special use for the first time. The design of the control system has been tested both in lab and on-site, the result of which shows that the performance and the stability both reach the standard of construction machinery industry. It shows a new method for control system of construction machinery, which is of great value to national construction machinery industry under the condition that it is far behind the developed countries in the west.更多还原