| Loader is a kind of construction machinery which widely used in construction,port,mine and other construction projects.It is mainly used for shoveling small block or powder materials such as sand,coal,lime,etc.It can also be used for light production and excavation.Domestic loaders generally need manual operation control and drivers work intensively.In recent years,with the development of industrial wireless technology,it is possible to accurately control loader work by wireless remote control technology.Especially in some high-risk situations,such as site blasting,subway tunnel construction,the presence of toxic and harmful gases in the construction site,it is particularly important to carry out robotic and intelligent remote control design for loader.In this paper,the steering servo control system of loader driving robot is designed and simulated,and an experimental platform is built.The rationality of the steering servo control system design is verified by experiments.Combining with the design scheme of remote control for steering system of loader at home and abroad,this paper designs and studies the following points:1.Introduce the development process of remote control design of remote loader,elaborate the research status and development trend of remote control loader at home and abroad,combine the technical characteristics of remote control design of loader,analyze the overall idea of this paper,and give the technical requirements to be achieved in this paper.2.The overall scheme of remote control for loader driving robot is described in detail,and the remote control steering system of loader is selected as the research direction of this paper.STM32 and DSP28335 development boards are selected as the control centers of input and output respectively.In order to realize long-distance signal transmission and reduce the delay in the process of long-distance communication,digital radio is selected as the carrier of wireless signal transmission.At the same time,the selection of other key components such as encoder and reducer is given.3.The mathematical models used in the simulation of steering control system are deduced in detail,including stepping motor,space voltage vector modulation technology,Parker transform,inverse Parker transform and reducer model,and the technical parameters of each module are given.4.The simulation models of the speed and position loops of the executive end are built in Simulink software.The control strategy of the stepping motor is analyzed in detail,and the simulation results are analyzed.The feasibility of the steering servo control system of the loader is demonstrated in theory.5.The mechanical structure of the remote control workstation and the steering system of the simulated actuator in the cab of the loader are built.The software program design of the steering servo control system of the loader is completed.The complete structure of the experimental platform are given. |
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