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Research on Loader Intelligent Control System

Author: LiHaiYang
Tutor: LiuJie
School: Northeastern University
Course: Mechanical Design and Theory
Keywords: Wheel loaders Electro-hydraulic proportional control Automatic shift transmission Throttle opening degree control Neural Networks PLC
CLC: TH243
Type: Master's thesis
Year: 2008
Downloads: 114
Quote: 1
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Abstract


Loaders are facing manipulation and control of the reform, the direction of development of electronic, automation, robotic loaders replacement. The development of China's loader with international standards, in order to improve the competitiveness of our loaders in the international market, we must accelerate the loader robotics and intelligent. This thesis, starting from the idea of ??intelligent robot, robot loader control problem, quoted Shi Xiaobo and others based on the behavior of the control method. This control method can meet the loaders complex working environment. Improvements on the realization of the process of this control method, which uses several parallel neural network instead of a multi-input multi-output neural network, to improve training accuracy and speed of operation. The fuzzy control methods mentioned in the article also text MATLAB simulation. The control method is selected, then the loader transformation, before the modified loader can adapt to this new control method. Transformation as follows: (1) transformation of the device and its hydraulic system of devices loader kinematics and dynamics models to analyze the movement characteristics of the working device and application VC language loader kinematics simulation graphics. Implement hydraulic system, the transformation of the main applications of the high-speed switching solenoid valve. This thesis is based on the results of previous studies as a pilot valve solenoid valve with a high-speed switch control the multiple valve spool displacement, and ultimately control the work of telescopic hydraulic cylinder. Transformation of hydraulic steering system is also based on this method. (2) transmission system transformation drive system first introduced, and then the automatic shift transmission shift schedule. This article was first proposed five parameter shift schedule based on neural network. In order to improve shift quality, the the gearbox clutch hydraulic control access to digital switching solenoid valve. (3) the transformation of the throttle control system on the market-by-wire throttle control system is expensive throttle opening control with PLC, stepper motor, clutch, accelerator pedal angle sensor according to the special control requirements of the loader, systems. (4) Based on the the S7 PLC high-speed switching solenoid valve control method and sensor selection using the Model PLC high-speed input and output functions, composition PID closed-loop control system to control the pressure and flow of high-speed switch port solenoid valve control, the final control amount of elongation of the hydraulic cylinders. The article to which the control of a hydraulic cylinder as an example. Select the required part of the sensor of the intelligent loader. The absorption of the paper and referenced extensively on loader research, to optimize the combination, and made a lot of its own point of view. Loader robots and intelligent study provides the overall transformation of ideas.

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CLC: > Industrial Technology > Machinery and Instrument Industry > Lifting machinery and transport machinery > Loading and unloading machinery > Loader
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