Research Of Tirehand And Automatic Control

With the maximization of mining equipment, the tires of mining vehicle are becoming increasingly larger. Maintenance and repair of expensive large tires has become more and more important. Over the years, the whole process of removal, repair and installation of large tires can only be completed by labor power with no practical machine, what lead to large labor intensity, no guarantee of work security and low production efficiency. To solve this problem, we designed the tirehand, which greatly reduces the time of removal and installation of tire, reduces labor intensity, improve work security and improve operating efficiency and productivity of the equipment.The main function of tirehand is to achieve removal, installation and carrying of large tires of mining vehicle. The tirehand can be installed on the loader and forklift. With the existing action of the loader and forklift which can lift objects, the tirehand can implement gripping of tire, horizontal movement and overturning in two directions to meet the need actions of removal, installation and carrying of large tires.The tirehand uses hydraulic power source. It's required to complete a variety of operations efficiently, smoothly and accurately in heavy load condition. Automatic control of the whole system is achieved by electro-hydraulic servo control technology. Electro-hydraulic servo system uses electro-hydraulic drive device as drive component. It is widely used in engineering machinery, metallurgical, military, aviation and other industries because of fast response, high control precision, nice dynamic performance, big ratio of power to weight, etc.In the control system of tirehand, control of clamping force of the arm is directly affect performance of the whole system. Electro-hydraulic proportional pressure control system based on PID controller is used in this subject to implement automatic control of clamping force of the arm. PID controller has advantages of simple principle, easy to use, strong adaptability, wide application, strong robustness, etc. Thus, PID control has become the most common control method in control system, and is widely used in electrical, metallurgical, mechanical, chemical and other industries. Electro-hydraulic proportional control system has advantages of both large transfer power, fast response of hydraulic components and convenient signal processing and operation of electrical components, and has advantage of easy to implement long-distance signal transmission (remote control). Electro-hydraulic proportional control system is widely used because of cheapness, energy saving, convenient maintenance, adaptation of high power control.According actual parameters of each component in the electro-hydraulic proportional control system, referring to relevant literatures and similar cases, the subject do mathematical modeling analysis to the system, determine the system transfer function, and test the system stability.At last, use MATLAB/Simulink simulation platform to do dynamic analysis to electro-hydraulic proportional control system, determine three parameters of KP, KI, KD of PID controller, and do stability and control effect analysis to simulation model based on them. Finally, get that the control system is stable, the control effect is good, and meet the expectation. However, as a result of affect of actual working condition, the result of actual control is often very different from the theoretical analysis result, what lead to the theoretical analysis result often can not be directly applied to practical work, so experimental demonstration is necessary.