Research On Distribute Control Technology Of Robotic Excavator

In this paper, on the basis of analyzing the control of the hydraulic excavator and reviewing the aspects of the hydraulic excavator auto-control and its development, the author bring forward a new plan for the robotic excavator control which is named "robotic excavator distribute control system." In the paper, the author introduces the design technology of the plan in details and studies the robot excavator distribute control method and technology deeply. This paper consists of the following parts:1.First summarize the application and the development of the distribute control system, introduce the character of the hydraulic excavator control and review the aspects of the hydraulic excavator auto-control technology and its development, then point that the development of the hydraulic excavator auto-control is to be as the "robotic excavator" finally. Then author brings forward the ''robotic excavator distribute control system" to realize the hydraulic excavator control.2. Introduce function and structure of the robotic excavator, show the consists and the function of the robotic excavator distribute control system. On the basis of this, accomplish the design of the structure of the control system and complete the function assign to the intelligent nodes, chose the right net type and bus type, so as to complete the plan design.3. With knowing about the structure and the function assign to the intelligent nodes of the robotic excavator distribute control system, complete the hardware design of the intelligent nodes, and show the relevant key circuit design and pay attention to the problem of the hardware reliability and keeping disturbance, and complete the design and application of the communication net which is based CAN (Controller Area Network) bus. Exploit the software to manipulate the hardware of the robotic excavator control system. The software system includes the servo-control sub-system, communication sub-system and control sub-system. Emphatically introduce the CAN communication protocol in user layer based on multi-host competition and bus arbitration, and state the distribute software mechanism which applies the VXD (Virtual X Device) technology which work in ringO of the windows operation system to realize the real-time control of the robotic excavator.4. Show the effect of the robotic robot distribute control system. State the diesel-pump mix-control theory and strategy which be applied to energy-saving node in details and show the effect. At last, the robotic excavator remote control as a case was given, in the fact, the effect is good.