| Wheel-type walking machine is a kind of construction machinery, that can realize large loads of construction machinery, and enhancing mechanical properties not only need to continuously optimize the mechanical bodies and hydraulic drive system, but also to have a comprehensive,reliable intelligent control system for enhancing the overall performance, and it is the key to running machine. For the walking machine and a number of special vehicles, it is significance to develop a set of intelligent control systems.This paper detailly analysis the features of the hydraulic drive system control and walking mechanical ,and the actual working conditions, distributed hardware and software system is established as a model of the structure, and use CAN communication technologies to build real-time communication networks, then on this basis, initial planning the functions of the vehicle.Choicing very popular embedded systems RC controller as the control core, According to the network topology of the vehicle, we divide control area. According to the concept central management and decentralized control to determine the master-slave control node. Then for each node, we selection component and design electrical schematic.To further refine the various parts of the system functions and control structures, judge failure that may occur to increase the specific judgments and alert handling. In the BODAS development platform to design the primary controller, and plan process and the various layers of the control program from the node, and develop the man-machine interface achieve the all vehicle at the same time.Debug the whole system functions on-site, compare test results and analysis various issues, and gradually improve the control system. |
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