包米勒PLC在蛇形造波机设计中的关键技术研究

Research on Key Technologies of Baumueller PLC in Design of Snake Type Wave Maker

摘要:

蛇形造波机是一种在海洋工程研究领域中,用于模拟大范围海浪的阵列式实验设备;为了进一步提高大范围海浪模拟的精度,蛇形造波机同步控制性能的提高具有十分重要的意义;针对包米勒PLC的运动控制技术进行研究,提出了基于其具有多级主从式结构的蛇形造波机同步运动控制系统,实现所有造波单元的严格同步控制;针对上位机和各PLC间数据量大、传输速度慢的问题,采用无损数据压缩和线性数据插值降低数据量,并应用多线程以太网通讯方式提高数据传输速率;另外由于该系统机械结构惯量大和总体负载大的特点,存在启停过程中电机过流问题;为此提出了一种基于余弦函数的拟合算法优化造波机启动和停止过程;在各个性能指标的验证实验中,该系统运行稳定,数据传输速度快,同步性能高,完全满足大范围海浪模拟要求。

Abstract:

In the field of ocean engineering,the array type wave maker is often used to simulate large scale ocean waves in the lab for the performance test of the designed marine structures. The motion control technology of Baumueller PLC is studied for improving the synchronization control performance of the snake type wave maker,and a synchronous motion control solution with multistage master-slave structure is proposed to realize synchronous control of all wave unit strictly. For the problem of large amount of data and slow transmission speed between IPC and PLCs,a lossless data compression and a linear data interpolation technology are used to cut down the generated wave data size,and a multi-threaded Ethernet communication method is adopted to increase the data transmission speed. Moreover,for the large mechanical inertia and load of the system,overcurrent phenomenon of motors may happen during the its starting and stopping process. Therefore,a cosine fitting algorithm is proposed to optimize it. In experiments,the system went stably with high data transmission speed and precise synchronous performance,which can fully meet requirements of large scale ocean wave simulation.