Research And Application Of Construction Machinery Controller Based On Embedded Soft PLC

Construction machinery is an important equipment for infrastructure construction,which is developing towards automation and intelligence.As the key component of construction machinery,the controller is directly related to the performance of construction machinery.The domestic replacement of controller software and hardware is the development trend.High precision,stable and reliable control of electrohydraulic proportional valve by controller is the key technology of engineering machinery control.This paper studies a stable and reliable construction machinery controller with simple and convenient application programming and certain computing ability.The main contents are as follows:(1)By analyzing the domestic and foreign products and research status of construction machinery controller,this paper summarizes the existing shortcomings and development trend.Through the analysis of the typical construction machinery control system represented by excavator and rotary drilling rig,the performance requirements and functional requirements of construction machinery controller are formulated,and the overall development scheme of construction machinery controller based on embedded soft PLC technology is put forward.(2)According to the overall design scheme of construction machinery controller,ARM series cortex-m4 with high performance and high efficiency is selected as the hardware core to develop the hardware system.The key circuit of the controller is analyzed and designed,and the development of each module of the controller hardware system is completed.The data acquisition accuracy is 2%,and the current drive control error is only 1%.The software system is designed based on the soft PLC technology of IEC61131-3 standard,and the controller software system is developed with the operation system of Co De Sys as the software scheduling core.Including the transplantation of Co De Sys operation system and the software development of various functional modules.According to the programming characteristics of construction machinery control system,a special function library is developed to improve the convenience of control system program development.(3)Through the theoretical analysis of the electro-hydraulic proportional valve widely used in construction machinery,the control model is established.Through PID and fuzzy control,the current and spool displacement control of proportional valve are optimized to improve the current control and response performance of electro-hydraulic proportional valve.(4)The basic function and dynamic performance of the controller are tested on the experimental platform,and the overall control performance of the controller is tested and verified on the excavator and high-altitude platform.The experimental results show that the function and control accuracy of the construction machinery controller can meet the application requirements.It can replace the existing foreign controllers,improve the overall performance of engineering equipment,and has good engineering practical value.