Design Of Electronic Control System Of The Hydraulic Crawler Tractor

With the development of China’s rural economy, agriculture, forestry machinerymodernization and automation level has been increased rapidly, and the agriculturalmechanization application popularity got spread. But planting machine for orchards isrelatively backward, mainly rely on manual management, so it is the low productivity andpoor technical level. In view of this situation, we have designed full hydraulic drive crawlertractor electronic control system for orchards. Through the local operation and remoteoperation, the tractor can be steered, forward/backward, speed increase/decrease. Themain content of the specific research and conclusions are as follows:We presented and analyzed the principle of crawler walking, and determined the tractortechnical parameters: tractor speed, drive wheel radius; we determined tractive force,crawler track adhesion and a variety of resistance as to meet driving conditions through thepower of the tractor analysis;We determined crawler tractor hydraulic system; presented and analyzed both of itscompostion and working principle, determined the the proportional pump and solenoidvalve hydraulic components through the technical parameters of the tractor;The track speed control model was established and was simulated by Matlab softwareon the basis of analyzing the need of orchard tractor and combining with the tractorhydraulic system;We designed the electronic control system of TCC1010as the central processing unit;determined the overall design of the electronic control system on the basis of the crawlertractor; determined the selection of hardware components: operation box unit, remotecontrol box unit, sensors and the main control box unit model selection;Full hydraulic drive crawler tractor electronic control system overall hardware designwas implemented, including the TCC controller port circuit design, receiver port loopdesign and TCC controller, and The cylinder lift line design;The software program for full hydraulic drive track-type tractor electronic controlsystem was designed with PLC language on CoDeSys software, which including the mainprogram, button calibration subprogram, the sensor speed subprogram, remote controlsubroutine, the cylinder control subprogram, the crawler speed control subprogram and the proportion of variable pump valve control output subprogram. The smoothly switching ofthe tractor, the precise control of speed and steering can be achieved through the control ofon-off and degree of opening and on-off of the solenoid valve, the speed feedback and thePID calculation.