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Simulation Study on Adaptive Control for Manipulator of Wheel Loaders

Author: WangZhiXin
Tutor: GongJie
School: Jilin University
Course: Mechanical and Electronic Engineering
Keywords: Loaders Working device Position control Electro-hydraulic proportional control Adaptive control Simulink simulation
CLC: TH243
Type: Master's thesis
Year: 2009
Downloads: 203
Quote: 1
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Abstract


Currently of our production loader foreign loader , there is still a wide gap . Although China's current production loader working device electro-hydraulic proportional pilot control , but still need joystick to excavation work . In order to improve the the loader operating efficiency , reduce operator fatigue strength , papers around the loader working device excavation work automatically control problems , as research kinematics analysis : loader working device by the coordinate space conversion loader working device driver equation . Pro / E environment loaders simulation model into ADAMS , loader prototype model is applied to the corresponding constraint force , drive loader the bucket cylinder and boom cylinder force output power . Electro-hydraulic proportional pilot valve in the hydraulic control system of the work unit to achieve control of the pilot circuit to achieve automatic control of the working device ; loader hydraulic system , electro-hydraulic proportional control of the hydraulic system of the loader working device the mathematical model of the system and the export open-loop transfer function and closed-loop transfer function . Adaptive controller design of the loader working device position control .

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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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