北京航空航天大学学报 ›› 2008, Vol. 34 ›› Issue (11): 1280-1283.

• 论文 • 上一篇    下一篇

基于RTK-GPS的提梁机组协调控制系统设计

郭中伟, 李运华   

  1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100191
  • 收稿日期:2007-12-04 出版日期:2008-11-30 发布日期:2010-09-16
  • 作者简介:郭中伟(1982-),男,河南济源人,博士生,zhongweiguo@hotmail.com.
  • 基金资助:

    国家自然科学基资助金项目(50575013);北京航空航天大学研究生创新实践基金资助项目

Design of coordinated control system for beam-carried cranes group based on RTK-GPS

Guo Zhongwei, Li Yunhua   

  1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2007-12-04 Online:2008-11-30 Published:2010-09-16

摘要: 双提梁机组协调控制系统利用对称布置的双频载波相位RTK-GPS(Real-Time Kinematic difference Global Position System )接收机完成对提梁机位置、航向位姿信息的测量,通过卡尔曼滤波与里程计融合,消除坐标定位信息的波动,提高位姿测定的精度;单机采用基于CAN (Controller Area Network)总线的网络控制系统,机组间数据传输采用无线网络,构成混合网络控制系统;采用基于双闭环的同步控制策略实现对两提梁机的同步协调控制.实际应用结果表明,两提梁机间相对位置偏差不超过0.1m,相对航向角度偏差不超过0.1°.

Abstract: The coordinated control system for beam-carried cranes group used symmetrically laid two dual-frequency carrier phase real-time kinematic difference global position system(RTK-GPS) receivers to complete the large-scale beam-carrier-s position and direction measurement. Based on Kalman filter, the data fusion technology eliminated the volatility of the GPS data and improved the accuracy of location. The networked control system based on controller area network(CAN) bus combined the wireless network used for inter-crane communication to be as the foundation of the control system. Control strategy based on dual-closed-loop control achieved the synchronization of the beam-carried crane group. Practical application results show that the relative position deviation between the two cranes is not more than 0.1m, and relative heading angle deviation is not more than 0.1 degree.

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