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KJ3002X1-BA1模擬量輸入

KJ3002X1-BA1模擬量輸入

在傳感裝置的選用上，盡量選用抗干擾性強的智能傳感儀器，同時考慮到預研項目的經費情況，也用了一些常規的傳感器。另外，由于機器人外部有很多傳感器，而艙室空間又十分有限，因而本文參考現場總線控制系統信息處理現場化的思想在機器人外部放置了一個單片機，完成這些傳感器數據的處理后再上傳給主單片機。試驗表明，這種方案不僅可以緩解主單片機的工作壓力，實現分布系統的設計思想，還可以減少信號傳輸線上的共模干擾。 
　　控制系統的執行機構主要是五臺推進電機、舵、及縱橫傾調節裝置。其中縱橫傾調節裝置為24V力矩電機帶動滑塊移動從而調節水下機器人的縱橫傾，經高性能光電隔離芯片后與從單片機1并行口連接。在水下機器人的運動過程中，隨時可能要改變推進電機的轉速以得到不同的推進力，而變頻調速是實現電機調速的方式。本系統采用臺達VFD-A/H型變頻器，它不僅可以實現各種轉速曲線，而且還具有過壓、過流、過熱等完善的保護措施。該變頻器與控制系統的接口為RS485串行口，一塊CPUzui多可接32個變頻器。 

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鄭娟萍

廈門仲鑫航自動化設備有限公司

主營：專業從事（DCS系統）（機器人系統）（大型伺服控制系統）模塊 備件銷售

↓、Allen-Bradley(美國AB)系列產品》

↓、Schneider(施耐德電氣)系列產品》

↓、General electric(通用電氣) →GE←系列產品》

↓、Westinghouse（美國西屋）系列產品》

↓、SIEMENS(西門子系列產品)

↓、estinghouse（西屋）： OVATION系統、WDPF系統、MAX1000系統備件

↓、Invensys Foxboro（福克斯波羅）：I/A Series系統，FBM（現場輸入/輸出模塊）順序控制、梯形邏輯控制、事故追憶處理、數模轉換、輸入/輸出信號處理、數據通信及處理等。

↓、Bosch Rexroth（博世力士樂）：Indramat，I/O模塊,PLC控制器,驅動模塊等。

↓、Motorola（摩托羅拉）：MVME 162、MVME 167、MVME1772、MVME177等系列

在主單片機一側，由于要發送的信息很多（共有107個字符）因而在程序中將待發送的數據分成兩組，每一組分別設有協議頭和校驗和，根據上位機通訊控制字符（分別是55H和66H）的不同來確定發送哪一組數據。在上位機一側，由于上位機要動態顯示水下機器人的運動姿態，接收各種設備的返回信息，如采用中斷信息接收方式，在同一時間每個下位機都向上位機發送信息時，會發生沖突導致信息丟失。為此，各下位機向上位機的信息傳輸要按照上位機的命令，整個系統按照統一節拍工作。當上位機空閑時就按順序發送一個使能命令給第i個下位機，第i個下位機接到命令后立即將要上傳的信息發出，如果上位機沒有接到，則重新發送該使能命令。同時為了提高通訊的可靠性，在通訊的每一側將待發送字符拆為3xH的形式，再對所發送的這組數據進行加和運算以求出校驗碼。通訊的另一側接收完一組數據后進行求和校驗，如校驗和不正確，則該組數據作廢，等待下一組數據。

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