基于实时内核的双起升双吊具桥吊实时仿真平台  

Real-Time Simulation of Double-Container Overhead Crane Based on Real-Time Kernel

作　　者：马晓飞[1] 徐为民[1] 褚建新[1] 周贤文[1] 

机构地区：[1]上海海事大学 航运技术与控制工程交通部重点实验室,上海201306

出　　处：《计算机测量与控制》2012年第6期1679-1682,共4页Computer Measurement &Control

基　　金：国家"863"计划重点项目(2009AA043000);上海市科委创新计划项目(10110502600);上海海事大学校基金(20100083);上海市重点学科(S30602)资助

摘　　要：双起升双吊具桥吊是一种复杂的多电机传动机械,其多电机协调控制需要实现桥吊操作的准确性、安全性和快速性;文中针对一种双起升双吊具桥吊实验装置的多电机协调控制的需要,构建了一个桥吊多电机实时仿真控制平台,提出了一种基于Real-TimeWorkshop(RTW)的实时内核的混合仿真实验构架,采用了S函数设计开发运动控制器驱动模块,并通过调用设备驱动函数操作运动控制器,最终实现桥吊多电机协调控制的方法;该方案具有技术先进、结构简单、使用灵活、成本低廉的特点,能够方便地实现针对双起升双吊具桥吊控制方法的数字仿真和半实物仿真。To satisfy the needs of both digital simulation and physical experiments concerning control methods of Double--Container Overhead Cranes, a real--time simulation platform for multi--motor coordinate control of the crane is established in this paper. A Real--Time Work- shop （RTW） based real--time simulation scheme is proposed, moreover, some-motion controller driver modules are designed and developed by using S--functions. Finally, by calling the functions of motion control card drivers, the multi--motor coordinate control experiments of the doub- le-container overhead crane are well performed. The developed simulation platform enjoys the characters of advance in technique, simply in structure, flexibility and low cost, and can carry out both digital simulations and physical experiments simultaneously.

关 键 词：RTW 实时仿真 双起升双吊具桥吊 运动控制卡 S函数 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]