基于RTK-GPS的提梁机组协调控制系统设计

郭中伟; 李运华

基于RTK-GPS的提梁机组协调控制系统设计

北京航空航天大学自动化科学与电气工程学院, 北京 100191

基金项目: 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

详细信息

作者简介:
郭中伟(1982-),男,河南济源人,博士生,zhongweiguo@hotmail.com.

中图分类号: TP 207
计量
- 文章访问数: 3126
- HTML全文浏览量: 93
- PDF下载量: 849
- 被引次数: 0
出版历程
- 收稿日期: 2007-12-04
- 网络出版日期: 2008-11-30

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

School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

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°.
- 同步控制 /
- 卡尔曼滤波 /
- 提梁机 /
- 动态实时差分全球定位系统(RTK-GPS)
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.
- synchronized control /
- Kalman filter /
- beam-carried crane /
- real-time kinematic difference global positioning system(RTK-GPS)

HTML全文

参考文献(1)

[1] Miyata N, Ota J, Arai T, et al. Cooperative transport by multiple mobile robots in unknown static environments associated with real-time task assignment[J].Transactions on Robotics and Automation, 2002,18(5):769-780 [2] Nishi T, Ando M, Konishi M. Distributed route planning for multiple mobile robots using an augmented lagrangian decomposition and coordination technique[J].Transactions on Robotics, 2005,21(6):1191-1200 [3] Li Yunhua, Yang Liman, Yang Guilin. Network-based coordinated motion control of large-scale transportation vehicles[J]. Transactions on Mechatronics, 2007,12(2):208-215 [4] Nakamura M, Hiyamizu D, Kyur a N. A method for precise contour control of mechatronic servo system with master-slave axes by use of synchronous position control[J]. Transactions of the Society of Instrument and Control Engineers, 1997, 33(4):247-253 [5] 逄波,王占林,白国长.工程机械液压底盘试验台双马达同步的研究[J].系统仿真学报, 2007, 19(9):2018-2021 Pang Bo, Wang Zhanlin, Bai Guochang. Study of dual motors synchronism drive based on engineering machine hydraulics underpan test-bed[J]. Journal of System Simulation, 2007, 19(9):2018-2021(in Chinese) [6] Wu Chihuang, Chou Huangju, Su Weihan. A genetic approach for coordinate transformation test of gps positioning[J]. IEEE Geoscience and Remote Sensing Letters, 2007,4(2):297-301 [7] Brown A K. GPS/INS uses low-cost MEMS IMU[J].Aerospace and Electronic Systems Magazine, 2005,20(9):3-10 [8] Sharaf R, Noureldin A, Osman A, et al. Online INS/GPS integration with a radial basis function neural network[J].Aerospace and Electronic Systems Magazine, 2005,20(3):8-14

施引文献

资源附件(0)

访问统计