| With the development of electrical system automation, it will be a trend to use robot in power online operation. It can replace human to complete heavy and dangerous task. This paper take the national 863 project "Power Online Robot" as its background; take overhead working truck as its object of study; take hydraulic positional servo system based on electro-hydraulic proportional control and DSP technique as its research target.At the beginning of this paper, the lifting arm of overhead working truck is been analyzed according to kinematics and dynamics. Its normal solution model is set up. Because of its low speed, by dynamic analysis, the coordinate among joints can be neglected. So the lifting arm can be controlled accord to single joint separately.The single joint model is setup by analyzing proportional vale controlled hydraulic cylinder. To direct against the shortage of single joint in performance, the lead-lag regulation has been done. The digital controller can be got by discretization. The performance of system is raised after being regarded.Electro-hydraulic proportional position servo controller takes TMS320F2812 as its main chip. Its high speed and rich peripheral on chip if helpful for compacted and embedded Electro-hydraulic proportional value controlled. Typical modules such as PWM, AD and timer interrupt are introduced.By experiment, the validity of steady current is verified; and period and parameters of PID controller is regulated. |
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