Research On The Automatic Loading Machine Control System For Bagged Cement

As an important material for construction in our country,cement has huge market demand.However,many cement loading is mainly manual,which is inefficient and harmful.Under this situation,the technology of intelligent and automatic cement loading has developed rapidly in recent years.Based on the self-developed cement automatic loading machine,this paper focus on its control system and control strategy.The purpose is to realize a stable,reliable and high-precision automatic cement loading control system under heavy load conditions.Firstly,according to the overall structure plan of the loader and the analysis of the module requirements,the control system of the automatic car loader is designed.According to the module layout,the circuit schematic diagram of the control board with DSP is designed.The modular motion analysis of the kinematic mechanism is carried out,and the motion scheme of the kinematic mechanism is designed.In view of the requirements of control accuracy,the layout scheme of sensors in each mechanism is designed to ensure the control accuracy of the system.Then,three closed-loop vector control models are established for the mechanisms that require high-precision control.Fuzzy PID controller and feedforward controller are designed to solve the problems of oscillation and inaccurate positioning accuracy caused by the complex moving state of the loading system under heavy load.The Matlab/Simulink platform is used to build a simulation model to simulate the actual operating conditions of the loader,and to verify the mobile positioning and system dynamic response performance.Performance is also greatly improved.Finally,based on the designed control system scheme and control strategy,the hardware platform of the automatic car loader is built.The unified communication protocol of each level of the control system is designed,and the program design scheme of the control system is introduced.Finally,using the built cement loader system,the three-dimensional moving mechanism movement positioning and automatic bag dropping device drop positioning experiments are carried out.The experimental results show that the control system designed in this paper has good control accuracy and stability,and meets the design requirements of the loader.