KJ3002X1-BB1模擬量輸出
KJ3002X1-BB1模擬量輸出
在傳感裝置的選用上，盡量選用抗干擾性強(qiáng)的智能傳感儀器，同時(shí)考慮到預(yù)研項(xiàng)目的經(jīng)費(fèi)情況，也用了一些常規(guī)的傳感器。另外，由于機(jī)器人外部有很多傳感器，而艙室空間又十分有限，因而本文參考現(xiàn)場(chǎng)總線控制系統(tǒng)信息處理現(xiàn)場(chǎng)化的思想在機(jī)器人外部放置了一個(gè)單片機(jī)，完成這些傳感器數(shù)據(jù)的處理后再上傳給主單片機(jī)。試驗(yàn)表明，這種方案不僅可以緩解主單片機(jī)的工作壓力，實(shí)現(xiàn)分布系統(tǒng)的設(shè)計(jì)思想，還可以減少信號(hào)傳輸線上的共模干擾。
控制系統(tǒng)的執(zhí)行機(jī)構(gòu)主要是五臺(tái)推進(jìn)電機(jī)、舵、及縱橫傾調(diào)節(jié)裝置。其中縱橫傾調(diào)節(jié)裝置為24V力矩電機(jī)帶動(dòng)滑塊移動(dòng)從而調(diào)節(jié)水下機(jī)器人的縱橫傾，經(jīng)高性能光電隔離芯片后與從單片機(jī)1并行口連接。在水下機(jī)器人的運(yùn)動(dòng)過(guò)程中，隨時(shí)可能要改變推進(jìn)電機(jī)的轉(zhuǎn)速以得到不同的推進(jìn)力，而變頻調(diào)速是實(shí)現(xiàn)電機(jī)調(diào)速的方式。本系統(tǒng)采用臺(tái)達(dá)VFD-A/H型變頻器，它不僅可以實(shí)現(xiàn)各種轉(zhuǎn)速曲線，而且還具有過(guò)壓、過(guò)流、過(guò)熱等完善的保護(hù)措施。該變頻器與控制系統(tǒng)的接口為RS485串行口，一塊CPUzui多可接32個(gè)變頻器。
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鄭娟萍
廈門仲鑫航自動(dòng)化設(shè)備有限公司
主營(yíng)：專業(yè)從事（DCS系統(tǒng)）（機(jī)器人系統(tǒng)）（大型伺服控制系統(tǒng)）模塊 備件銷售
↓、Allen-Bradley(美國(guó)AB)系列產(chǎn)品》
↓、Schneider(施耐德電氣)系列產(chǎn)品》
↓、General electric(通用電氣) →GE←系列產(chǎn)品》
↓、Westinghouse（美國(guó)西屋）系列產(chǎn)品》
↓、SIEMENS(西門子系列產(chǎn)品)
↓、estinghouse（西屋）： OVATION系統(tǒng)、WDPF系統(tǒng)、MAX1000系統(tǒng)備件
↓、Invensys Foxboro（福克斯波羅）：I/A Series系統(tǒng)，F(xiàn)BM（現(xiàn)場(chǎng)輸入/輸出模塊）順序控制、梯形邏輯控制、事故追憶處理、數(shù)模轉(zhuǎn)換、輸入/輸出信號(hào)處理、數(shù)據(jù)通信及處理等。
↓、Bosch Rexroth（博世力士樂(lè)）：Indramat，I/O模塊,PLC控制器,驅(qū)動(dòng)模塊等。
↓、Motorola（摩托羅拉）：MVME 162、MVME 167、MVME1772、MVME177等系列
在主單片機(jī)一側(cè)，由于要發(fā)送的信息很多（共有107個(gè)字符）因而在程序中將待發(fā)送的數(shù)據(jù)分成兩組，每一組分別設(shè)有協(xié)議頭和校驗(yàn)和，根據(jù)上位機(jī)通訊控制字符（分別是55H和66H）的不同來(lái)確定發(fā)送哪一組數(shù)據(jù)。在上位機(jī)一側(cè)，由于上位機(jī)要?jiǎng)討B(tài)顯示水下機(jī)器人的運(yùn)動(dòng)姿態(tài)，接收各種設(shè)備的返回信息，如采用中斷信息接收方式，在同一時(shí)間每個(gè)下位機(jī)都向上位機(jī)發(fā)送信息時(shí)，會(huì)發(fā)生沖突導(dǎo)致信息丟失。為此，各下位機(jī)向上位機(jī)的信息傳輸要按照上位機(jī)的命令，整個(gè)系統(tǒng)按照統(tǒng)一節(jié)拍工作。當(dāng)上位機(jī)空閑時(shí)就按順序發(fā)送一個(gè)使能命令給第i個(gè)下位機(jī)，第i個(gè)下位機(jī)接到命令后立即將要上傳的信息發(fā)出，如果上位機(jī)沒(méi)有接到，則重新發(fā)送該使能命令。同時(shí)為了提高通訊的可靠性，在通訊的每一側(cè)將待發(fā)送字符拆為3xH的形式，再對(duì)所發(fā)送的這組數(shù)據(jù)進(jìn)行加和運(yùn)算以求出校驗(yàn)碼。通訊的另一側(cè)接收完一組數(shù)據(jù)后進(jìn)行求和校驗(yàn)，如校驗(yàn)和不正確，則該組數(shù)據(jù)作廢，等待下一組數(shù)據(jù)。
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