ZigBee监控

所需积分/C币:4 2013-05-26 17:10:40 6.02MB PDF

基于ZigBee多智能小车远程监控系统设计与研究,分析了小车的模型,网络的通信,和vc软件的编写
摘要 Y2175506 摘要 智能小车广泛应用于自动化生产线、智能仓储管理及物流配送等方面。在特殊的 环境中,常需要多智能小车协作完成仼务,因此多智能小车协作的控制就显得尤为重 要。随着网络技术的快速发展,通过冈络实现远程监控智能小车已成为当前一个重要 的研究方向。本文以多智能小车为研究对象,利用 ZigBee无线网络构建了多智能小车 远程监控系统,采用 Visual c艹+软件设计了监控软件、基于Web远程客户端界面,实 现了对多智能小车远程监控,采用模糊控制算法实现多智能小车的协作控制。 根据 ZigBee无线网络的通信协议、协议各层的功能和网络拓扑结枃等特点,本 文设计了上位机通过 ZigBee无线网络与多智能小车的双向通信,实现了对智能小车 的集中控制;设计了基于Web远程客户端,通过 Internet实现对多智能小车的远程 监测,并用 isual C艹+软件设计了上位机监控软件以及web远程客户端界面,实现 对智能小车的速度、行驶时间、里程、车间距等数据的监控,通过上位机界面上的模 拟地图能直观监测到智能小车行驶状况,并通过发送控制命令完成对单智能小车控制 以及多智能小车协作编队的控制;通过Web远程客户端实现对智能小车的实时运行状 况远程监测。 本文在已构建的监控平台上硏究了多智能小车的控制算法,采用位置式PD控制 算法以及増量式PI控制算法实现了对智能小车的方向和速度控制,实现单智能小车 的启停、加速、减速等功能;采用模糊控制算法控制多智能小车的速度和车间距,实 现了多智能小车协作编队,使多智能小车在保持安全距离的前提下,由首辆车带领形 成车队纵向行驶,完成启停、加速、加速、诚速、跟随任务。 实验表明,本文通过 ZigBee无线网络可实时的监测多智能小车的行驶状况并且 通过位置式PD、増量式P控制算法以及模糊控制算法可对多智能小车进行方向、速 度、车间距等方面进行控制,Web远程客户端经过允许可以监测到多智能小车系统的 运行状况。 关键词: Zigbee,远程监控,智能小车,模糊控制,协作编队 Abstract Abstract Intelligent vehicle is widely used in automated production lines, intelligent warehouse management and logistics and other aspects. In special circumstances, collaboration of intelligent vehicles which is often required to complete the task becomes particularly important. With the rapid development of net work technology, remote monitoring of intelligent vehicles has become an important research direction through the network. This dissertation puts intelligent vehicles as the research object, builds remote monitoring system of intelligent vehicles based on the Zig bee wireless network. The Visual C++ software is used to design the monitoring software. monitoring inter face of remote client based on Web and cooperative control for intelligent vehicles According to ZigBee wireless network communication protocol, the function of each protocol layer and the characteristics of network topological structure, the dissertation introduces the design of two-way communication between host computer and intelligent vehicles via ZigBee wireless network in order to realize centralized control of multi-intelligent vehicles. Remote client based on Web is designed so that remote monitoring of multi-intelligent vehicles could be realized via the Internet. Hos computer monitoring software and monitoring interface of remote client based on Web are designed by Visual C++ software, which could complete monitoring the speed running time, mileage, vehicle spacing of intelligent vehicles. Driving conditions of intelligent vehicles can be monitored through analog map on the host computer interface, which sends control commands to complete control of single intelligent vehicle as well as cooperative formation control of multi-intelligent vehicles. Remote monitoring of real-time operational status of intelligent vehicles can be monitored through a Web client The dissertation studies the control algorithms of intelligent vehicles based on the built monitoring platform, using positional PD control algorithm and incremental PI control algorithm to realize the direction control and speed control of intelligent vehicles and the functions of intelligent vehicles such as start and stop, acceleration, deceleration and so on. The coordination formation of multi-intelligent vehicles is realized by fuzzy control algorithm which is adopted in controlling the speed and vehicle spacing. The first vehicle leads others form the team traveling vertical under the premise of maintaining a safe distance in order that the tasks of start and stop. acceleration. deceleration and follow could be completed Abstract The experimental results demonstrate that the dissertation could observe driving condition of multi-intelligent vehicles through Zig Bee wireless network in real time and control the direction, speed, vehicle spacing and other aspects of multi-intelligent vehicles through positional PD, incremental PI control algorithm and fuzzy control algorithm in real time Remote client based on Web could monitor the operation status of multi-intelligent vehicles system after permission Key words: ZigBee, Remote monitoring, Intelligent vehicles, Fuzzy control algorithm, Coordination formation 目录 目录 摘要 丰律律 Abstract 目录 第1章绪论 +4 1.1本文研究背景及意义 1.2国内外现状 1.2.1 ZigBee技术的国内外研究动态 1.2.2远程监控网络的国内外研究动态… 1.3本文的研究工作及论文组织结构 2 1.3.1主要研究工作 2 1.3.2论文组织结构 ·:…++“·+“+++…·++++ ++ 第2章 ZigBee技术概述 21 ZigBee简介 22 ZigBee协议栈体系结构 2.2.1 ZigBee协议栈简介 6 2.2.2物理层(PHY) 7 22.3介质访问控制层(MAC) 224网络层(HWK)和应用层(APL) 2.3 ZigBee I网络拓扑结构… Q 24本章小结 1 第3章系统总体设计 13 3.1基于 Zigbee多智能小车远程监控系统设计 13 3.2智能小车 3.2.1智能小车导航方法… 3.2.2智能小车的测速方法 15 3.2.3智能小车的处理器与电机驱动 15 33通信网络 16 3.3.1无线模块… 16 33.2无线模块的通信 3.3.3以太冈远程通信 21 3.4监控软件

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