基于CAN总线的挖掘机轨迹规划系统  

A CAN Bus Based Trajectory Planning System of Excavator

作　　者：胡聪[1] 李智[1] 许川佩[1] 戴群亮 

机构地区：[1]桂林电子科技大学 [2]广西柳工机械股份有限公司

出　　处：《工程机械》2006年第7期4-7,共4页Construction Machinery and Equipment

基　　金：国家863项目(2003AA430190)装载机远程服务系统与智能化挖掘机子项目

摘　　要：介绍了基于CAN总线的挖掘机轨迹规划系统,该系统下位机使用DSP芯片作为硬件平台,应用逆运动算法和PID算法实现挖掘机的轨迹规划;采用CAN总线作为上位机与下位机的交换信息通道,以自定义通信协议进行通信;在上位机上保存和显示下位机传输过来的数据,经分析推导出算法的控制参数并进行在线参数修改。实验证明该系统稳定可靠,操作方便,能快速得到算法的最优参数。A CAN bus based trajectory planning system of excavator is de-scribed. DSP chips are used as hardware platform in MCU of the system; reverse movement algorithm and PID algorithm are applied to achieve trajectory planning. CAN bus is employed as information exchanging channel between host computer and MCU, and self-de-fined protocol is used for communication. Data delivered from MCU are stored and displayed in host -computer, after analysis, control parameters are derived and can be modified on line. Test shows that the system is stable and reliable, and simple to operate, opti-mum parameters of the algorithm can be obtained promptly.

关 键 词：CAN总线 挖掘机 挖掘轨迹 智能化控制 

分 类 号：TU621[建筑科学—建筑技术科学]