Research And Design Of Loader’s Coordinator Intelligent Control System Based On DsPIC

Based on tank automatic reloading pause play control system as the background, the systemaccording to different needs to choose different types of tasks in the shells, namely the controlsystem the rotational inertia of the load change. If when designing controller design adopts theclassical PID control method, will appear in the moment of inertia changes will cause the loss ofsystem performance, and even instability. In order to solve the inertia change brings to the controlsystem control problem, this article will model for classic PID control method and the single neuronadaptive PID control way for system design and system simulation research.Overall design of the control system has been introduced in this paper, gives the systemhardware design and engineering implementation. DsPIC30F6010A design the special-purposedigital signal based on the motor controller as the core of the whole hardware system, the system forthe current loop, speed loop and position loop, three closed loop structure, the DSC circuit, IPMcircuit and peripheral circuit, signal detection and protection circuit. Hardware system with over-voltage protection, over-current protection, and also can enhance the reliability of the systemfunctions such as leakage current test. In the choice to use device is analyzed and the selection ofmodules and components, simplifying the system structure, reduce the system cost and enhance thesystem performance, can satisfy the need of more applications.Inner ring in the structure of this system of three closed loop, current loop, speed loop adoptsthe classical PID control method, the system of the outer ring uses the intelligent control algorithmof single neuron adaptive control. By the motor, the working principle and system of actuators, amathematic model of the control system. First classic PID control method to make use of Matlabsimulation, through the analysis of simulation results to see if the rotational inertia of the systemleads to overshoot of system to increase, if the moment of inertia of small may lead to systeminstability; Later of the system model by Matlab M file form of single neuron adaptive PID controlsimulation, simulation results show that the moment of inertia in the system after the change to the extent permitted system control effect of the difference is very small, and no overshoot. Can alsothrough the establishment of a model of more classic PID control system part can also be reachedfrom the moment of inertia of the impact of the change, but such a system must be the moment ofinertia is clear conditions is the practical significance, that if there was no clear moment of inertia,also can lead to system control effect is not good.By comparing the classic PID control and single neuron adaptive control simulation results,this paper study and design of intelligent control system is the moment of inertia of the systemchanges have very strong adaptability. Although intelligent control algorithm and control parametersof the field test is needed, but with significance is beyond doubt.