高空作业平台CAN总线控制系统设计

摘要

介绍了采用ARM9嵌入式控制器设计高空作业平台CAN总线控制系统的实现方法;在分析蜘蛛型高空作业平台结构和工作原理的基础上,以ARM9嵌入式控制器为核心,把高空作业平台控制系统分成主控制器、远程操作控制器和吊篮操作控制器等3个功能相对独立的子系统,通过CAN总线相连,构成高空作业平台控制系统;这种系统模式减少了高空作业平台上下车之间的连线,提高了系统的可靠性;另外,根据安全使用的要求和设备动作之间的关系,在硬件和控制软件设计时引入各个动作的逻辑约束以避免误操作的发生,保证了操纵的正确性和安全性;经过调试试验表明,该系统有效地实现了高空作业平台的动作控制,具有良好的稳定性和可靠性.%A scheme of CAN BUS control system using ARM9 embedded controllers is depicted in this paper. By analyzing mechanical structure and working principle of spider aerial working platform (SAWP), the control system of the platform was reasonably divided into 3 subsystems with independent performance, i. e. main controller, remote manipulation controller and working-basket manipulation controller, which use ARM9 embedded controllers as cores. Connecting the subsystems with CAN Bus, the control system of SAWP was developed. It greatly decreases wires and cables between the upper part and lower part of SAWP by using the mentioned architecture of the control system, thereafter the reliability of the platform system is enhanced. Moreover, as developing the hardware and software, some logical constrains were considered to avoid incorrect manipulations.These constrains ensure the correctness and safety of the platform manipulation. The debugging experiment shows that the system can efficiently implement the movement control of SAWP, and have good stability and reliability.