应用于高铁PC梁运载的运梁车是SPMT特定用途的一种,其电气液压控制系统复杂,传感器及液压执行机构种类及数量多;基于CAN总线的分布式控制系统架构,将控制系统设计成多个控制模块,采用CAN总线作为系统中各单元之间交换信息的通道,给系统设计和布线带来了极大地便利;文章从硬件和软件设计进行阐述,从动力控制、转向控制、行走控制、悬挂及支腿控制等,逐步介绍运梁车控制系统的研制过程和控制系统结构组成;在参考以往运梁车设计的优缺点基础上,采用了最先进的传感器对运梁车进行了全方位的监控和精确的控制;分析了研制过程碰到的重难点问题及解决办法,为同类自行式模块运输车(SPMT)控制系统的设计提供了一定的参考;研制成功的控制系统安装于公司生产的HJY550运梁车上经过调试及试运转,控制精确、各项功能均达到设计要求,系统运行稳定、安全可靠.%The beam carrier used for high-speed PC beams is a kind of SPMT-specific use,its electrical hydraulic control system is complex,the type and quantity of sensors and hydraulic actuators are numerous.The control system based on CAN bus distributed control system architecture,and designed into multiple control modules.The use of CAN bus as the system of information exchange between the various units of the channel,to the system design and wiring has brought great convenience.This paper expatiates on the hardware and software design,from the dynamic control,steering control,driving control,suspension and outrigger control,and gradually show the design process and control system structure of the control system.In the light of the advantages and disadvantages of the previous design of the beam vehicle,based on the use of the most advanced sensors on the beam vehicle for a full range of monitoring and precise control This paper analyzes the heavy and difficult problems encountered in the development process and its solutions,which provides some reference for the design of the control module (SPMT).Successful development of the control system installed in the company's HJY550 beam vehicle after debugging and commissioning,precise control,the functions are to meet the design requirements,the system is stable,safe and reliable.
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