【作者】 王帑；

【导师】 王国庆；

【作者基本信息】 长安大学 ， 机械电子工程， 2008， 硕士

【摘要】 本文在总结大量参考文献和前人研究工作的基础上,设计了机器人化工程机械控制器的数字信号故障诊断平台,主要目的是针对课题《机器人化工程机械的超声波避障与惯性导航系统研究》中的数字信号部分进行测试、分析与故障诊断,进行软硬件方面的测试与诊断。主要完成机器人化工程机械控制器的数字信号故障诊断平台方案的设计,重点是硬件电路的设计,采用以MSP430F135单片机为核心,利用CPLD芯片XC95144XL工作频率高、可编程等优点完成其内部复杂的逻辑电路设计,选用串口转USB芯片CP2102设计了接口电路。其中,CPLD内部逻辑电路主要包含触发识别电路和控制模块电路,它关系着整个设计的功能能否实现,是整个系统设计的难点,也是重点。设计中,重点对触发识别电路进行了仿真,验证设计的正确性,满足设计功能的要求。而触发识别电路可以实现多种触发方式,有随机触发、通道触发、外触发、序列触发、组合触发以及外触发与通道触发、序列触发、组合触发的组合。另外,完成了电源模块设计、时钟电路的设计、门限电平产生电路设计、串口转USB接口电路设计。在设计中,还考虑了混合逻辑电平的配合问题,采用电平转换电路设计和双电源电平移位器74LVC4245来解决这个问题。软件部分,一方面完成接口电路通信程序的编写;另一方面,利用LabVIEW语言,结合虚拟仪器的概念,把硬件与软件相结合,完成故障诊断系统人机交互界面的设计。可以实现触发初始条件的设置,触发方式、工作模式的选择,方便观测和分析捕获的数据,诊断故障所在。更多还原

【Abstract】 Based on the references and the predecessors’researches, the digital signal fault diagnosis platform for the roboticized construction machinary controller was designed. The main issue was how to implement the test, analysis and fault diagnosis of the digital signal and hardware and software in the thesis“Research on the Ultrasonic Obstacle Avoidance and Inertial Navigation system of Mobile Robot”.Focusing on the hardware circuit design, the digital signal fault diagnosis platform was implemented, by using MSP430F135 as the main microcontroller. Making use of high-frequency and programmable advantages of CPLD chip XC95144XL, the internal complex logic circuit was designed in the CPLD. Based on the chip CP2102, the USB interface circuit was designed. Thereinto, the design of interior logic circuit in the CPLD and the simulation are the difficulties and key points of system design. The internal logic circuit in the CPLD mainly contains the trigger identification circuit and the control module circuit, among these, trigger identification was the primitive function. The trigger identify circuit implements many kinds of trigger modes, such as stochastic triggering, channel triggering, external triggering, sequence triggering, combination triggering as well as combination of external triggering with channel triggering, sequence triggering, combination triggering respectively. In addition, the power modules, the clock circuit, a threshold level circuit and the USB interface circuit were implemented. In the circuit design, to solve the problem of the mixed logic levels in the system, a level translation circuit with dual-supply level shifters 74 LVC4245 was used.For the development of software, code of communications interface module was programmed. On the other hand, by using the LabVIEW language, combining the concept of Virtual Instrument, the interface of fault diagnosis system was implemented, in which it could set the initial conditions of trigger, trigger mode and work mode to observe and analyze the data captured and diagnose the fault of the target system.更多还原