Control Study Of Steel Arch Installation Mechanical Arm

With the rapid development of transportation in China, construction of the tunnelis increasing year by year, so the level of mechanization construction needs to beimproved urgently. In the soft rock tunnel, support is an important step, one of which isthe installation of steel arch. Currently, most domestic steel arches are installedartificially or by simple auxiliary equipment, features of above installation method haslong construction time, high labor intensity and low efficiency. Therefore, doingtechnical research in the steel arch frame installed equipment has theoreticalsignificance and practical value.This paper introduced the status of steel frame installation machine and theapplication of electro-hydraulic proportional control technology in mechanical armcontrol system. According to the structure feature of the mechanical arm andtechnology requirement in the process of installing steel arch, the hydraulic controlsystem of mechanical arm is designed, and the AMESim software is used to simulateand analysis hydraulic system model of the single and multi-arms. The electricalcontrol system of mechanical arms is designed, using PLC as the lower machine andPC as upper machine, monitoring interface in Wincc configuration system, so as torealize the position control of mechanical arms of the order action and coordinateaction. Analysis and calculate forward and inverse kinematics of manipulator, usingthree order spline interpolation method to complete the robot continuous path planning.Doing the joint simulation to system by AMESim and MATLAB/Simulink,introducing conventional PID control algorithm and the fuzzy self-tuning PID controlalgorithm and also the realization, analyzes the control effect of two algorithms on themechanical arm of hydraulic system, realizes the actuator position control ofmechanical arms. By building simulation test platform of electro-hydraulicproportional position control system, test studied position control of the singlecylinder’s independent action and multi-cylinder coordinated actions.