Research On Walking Hydraulic Control System Of Transported Bridge Erecting Machine

This topic is based on the SLJ900type transported bridge erecting machine.Combined with the requirements of user and the present development of electro-hydrauliccontrol technology, we design this distributed independent unit based on CAN bus drivecontrol system. This system has been successfully used in the construction site throughdebugging.Aimed at the feature of SLJ900type mobile bridging machine, this paper focuses onthe walking hydraulic control system. As an important part of SLJ900, walking hydrauliccontrol system has a very important influence on the function and performance of theequipment. Therefore, it is very important to study a stable and reliable walking hydrauliccontrol system.The hardware of the walking hydraulic control system adopts Rexroth RC6-9andRCE12-4controllers as the main controller and the slave controller, respectively. CANbus is used between the main and slave controller for data communication. The maincontroller collects the pressure signal from the slave controller, then sends control signalto the slave controller by logical judgment and PID control algorithm for thesynchronization control. With Rexroth DI-3display, HMI(Human Machine Interface) isuser-friendly and convenient. Through CAN bus, The HMI receives and displays themachine status information from the main controller, and sends data to the maincontroller.Through the simulation in the laboratory and field debugging, the master-slavecontrol system fully meets the design requirement due to its stable performance and stronganti-interference ability.