Automatic Control System Of The Sand-fixing Robot Developed

This paper is based on a March 1986 Program—"the research of Sand-fixation Robot"(The program code is 2002AA422170). In desertification more and more gravely today, the research of this project has important significance."Sand-fixation Robot"is a big machine that can pave grass barrier automatically to prevent the sand from moving. It is driven by hydraulic pressure and air pressure, and controlled by PLC. The project has been tested successfully on November 2005 in Inner Mongolia.This paper mainly introduced the principle and developing of the Sand-fixation Robot's control system. First, it introduced the developing status and trend of big machine and industrial robot all over the world; and then presented the whole control scheme, the core of its controller is S7-300 PLC, it accomplished all actions through controlling the electromagnetic valves of every joint in order, and using FM353 and FM350 control grass delivering system. The third part introduced the"Height control system", the robot must keeping the distance from itself to the ground invariable to improve the quality of paving. I used a fuzzy controller based on an embedded MCU to control it; the forth part presented an approach of using hydraulic pressure servo system to control grass-insert part, it was proved by simulation; the last part gave the designing of software.