基于CAN总线的水下多腿步履式行走装置电液控制系统设计  

Design of Electro-hydraulic Control System for Underwater Multi-leg Walking Device Based on CAN Bus

作　　者：郭勇 刘宇迪 刘德顺 王周洋 GUO Yong;LIU Yudi;LIU Deshun;WANG Zhouyan(National-Local Joint Engineering Laboratory of Marine Mineral Resources Exploration Equipment and Safety Technology,Hunan University of Science and Technology,Xiangtan 411201,China;Engineering Research Center of Advanced Mining Equipment of Ministry of Education,Hunan University of Science and Technology,Xiangtan 411201,China)

机构地区：[1]湖南科技大学海洋矿产资源探采装备与安全技术国家地方联合工程实验室,湖南湘潭411201 [2]湖南科技大学先进矿山装备教育部工程研究中心,湖南湘潭411201

出　　处：《矿业工程研究》2024年第2期63-71,共9页Mineral Engineering Research

基　　金：国家自然科学基金资助项目(5170514,51779092)。

摘　　要：水下环境压力、通信、负载控制等影响多腿步履式行走装置水下工作控制的可靠性和复杂性,甚至制约其水下工作功能的实现.针对多腿步履式行走装置水下环境中的工作控制问题,根据先定向后行走的控制策略提出控制器局域网络(Controller Area Network,CAN)设备底层与以太网顶层通信相结合的双层复合组网控制方法.采用补偿器进行水下压力补偿,利用负载流量独立分配控制避免多腿独立动作干扰,结合CAN总线底层采集行走装置状态信息、以太网顶层遥控操作,设计基于CAN总线的水下多腿步履式行走装置电液控制系统,并在样机中进行应用.应用表明该系统实现了水下行走装置定位的远程化、实时化和自动化,对提高控制效率,增强水下定位装置的可靠性具有重要参考意义.The pressure,communication,and load control of the underwater environment affect the reliability and complexity of the underwater work control of multi-legged walking devices,and even limit their underwater work functions.Aiming at the problem of working control of multi-legged walking device in underwater environment,based on the control strategy of orientation first and then walking,a two-layer composite networking control method combining the communication between the bottom layer of CAN device and the top layer of Ethernet is proposed.Compensator is adopted to improve the underwater pressure compensation,and load flow independent distribution control is used to avoid multi-leg independent control interference.Combining with the state information of the walking device collected from the bottom of CAN bus and the remote control operation from the top of Ethernet,the electro-hydraulic control system of underwater multi-leg walking device based on CAN bus is designed and applied in the prototype.This control system realizes the remote,real-time and automatic positioning of underwater walking device,which has importantly referential significance to improve the control efficiency and enhance the reliability of underwater positioning device.

关 键 词：双层复合组网 补偿器 多支腿独立控制 CAN总线 

分 类 号：TH122[机械工程—机械设计及理论]