| With the development of science and technique, people are putting forward higher requirement for construction machine gradually. Meanwhile, following up the gain ground and application of micro-electronics, information technique and computer, there is a breakthrough improvement in this field. However, the work of shoveling material is manipulated by manipulator controlling the handle of the shaking arms or the bucket at present in domestic loader field, and there is randomicity at the position of unloading and shoveling during the process of the manual controlling. At the mean while, the manipulator has to adjust the shoveling angle as the bucket can not flat automatically. Moreover, the loader also has to vary its position because the objects of the work are complicated and changing from time to time. Therefore, the efficiency of the shoveling is mostly determined by the experiences, skills and desires of the manipulators.In order to reform the maneuverability of the loader working device and to improve the level of automation, the thesis do the researches by focusing on the auto-control of the manipulators on the loader. The detailed elaborations are as following:1. According with the structure character of the loader, the thesis analyzes the composition and working principle of the operating control system, designs electronic control part of the overall block diagram, and introduces several loader modes.2. Based on the hydraulic-pressure system principle of the loader's manipulator, the mathematical model of the plural channel valve-piston position controlling system is set up. Then, the relationships between the cylinder displacement and the width of the PWM pulse signal are obtained, and the stabilization of the position controlling system is analyzed.3. The position controller of the manipulators is designed by using the self-adaptation fuzzy PID method, and the mathematical model of the loader hydraulic control system has been simulated and analyzed in the theme under the Matlab/Simulink environment.4. The model of the loader operation control system which includes signal input module, fault detection module, determine the logic modules, memory modules and operating modules is completed. Finally the model generates C code through the RTW in the Matlab which reduces the workload of writing code greatly, makes the modified easily and shorts the development period. |
