Research And Design Of Control System Of Multi-function Automatic Pruning Machine

The multifunctional automatic trimmer is a kind of landscaping and maintenance equipment,it was designed to meet the needs of the society.It can be used for the trimming of planes and sides,and the trimming of symmetric three-dimensional shapes such as spheres,cones,and columns.We research a reliable control system so that the trimmer can operated in a mode of manual or automatic,to increase the use rate of the machine and improve work efficiency.The trimmer mechanical structure is a type of improve plane composite,it includes the rotary table,the main lift arm,telescopic main arm,lift from the arm,telescopic slave arm,rotary joint,end joints,tools,analyze of the trimmer kinematics,use The point-by-point comparison method is used to infer linear interpolation algorithm and circular interpolation algorithm,analyze the working process of the control system and draw a block diagram.Analyze the loops of the control system and count the number of channels of each subsystem.List the I/O tables of the system.According to the advantages and disadvantages of each drive and the operating characteristics of the trimmer,select the driving mode of electro-hydraulic mixing,analyze working principle of the hydraulic control system,describe the implementation method of highly automatic adjustment,explain the working principle of the servo system,and explain the rotary joint power requirement.The human-machine interface is constructed by using the touch screen of Kunlun Electronics Co.,Ltd.and the configured configuration software.The system uses the touch screen as the host computer to perform remote control,and collects the control system motion parameters,generates the parameter curve,and use the PLC as the lower computer to issue control instructions under different working modes so that each actuator operates in a logical sequence.According to the I/O table,select the matching PLC and expansion module,design the PLC peripheral circuit diagram,complete the selection of the main sensor,and give wiring diagram of sensor,use the servo system hardware,rotary joint hardware,give peripheral wiring diagram of inverter control circuit.Configure the power supply and switching power supply for the system,and draw the main circuit electrical diagram.The software framework of the control system is built on the basis of hardware,the configuration monitoring screen and control software are designed,the software flow chart of the main program and the software flow chart under several working modes are designed,include manual,home origin,continuous automatic,single-cycle automatic.The use of servo platform combined with the work requirements of the servo system parameters debugging,and in the configuration environment to simulate the actual work of the system debugging,find and optimize existing problems,to prepare for follow-up manufacturing prototype.