Research On The Position Control Method Of Loader's Electronic-hydraulic Proportion System

Abroad started to research on The intelligence turn of loader since80's,after about ten years researching and improving ,the productentered the market at the beginning of 90's .The new productmanipulates , credibility, comfort, easy maintenance goodly,raisingthe homework efficiency consumedly, reduce the homework cost, andcaptured the market quickly.Loader product of our country fall behind a long space,it'stechnique level only equal to the advanced flourishing nation's 80'slevel .Some business enterprises start to know the seriousness thattechnique fall behind others and begin to strengthen the research andthe development ,also they strengthen the research and development onintelligence of loader。Our country's loaderyield is big,annually about17000-20000 sets,but the technique relatively falls behind others,allthe products is already set basically in many years.Although thisseveral years have a little bit improvement, but there's very bigmargin compare to foreign country's loaderwhich adopt themicroprocessor control, intelligence with abroad to turn supervisionand press the customer need to installA big part Advanced technique of loader concentrate in manipulatingand controling at present. to solve the problem of controling,we canhardly make the product have the quality to leap,if we only pressed theangle from the machine and liquid to do thinking,we must lead to goin to have the electronics technique which have the good controlfunction and informations handle, the calculator technique and theelectricity liquid comparisons etc..Electronical, the automation isthe development direction that the engineering machine productrenewal changes the generation, this is the technique current that can'tresistAccording to the above condition,this text puts forward to use thetechnique route of the high new technique to reformat the product. Aotchanging the traditional product overwhelming majority premise of thepartses ,I pack the electronics technique, micro calculator techniqueand the control techniques apply to the engineering machine oftraditional system and works system in the realization loads the machinework device of the electricity liquid comparison positioncontrol.improving the control function and raising the control accuracyof the loading machine,making it easily to operate.This text take MCS PIC16C73B as the core, designing to develop the systemcontroller.The system produces the numerical type telecommunicationnumber through the operation control hand handle, passing to move thearm to turn the position feedback through the Cape feeling machine, thecontroller outputs the signal of PWM to control the comparison valveup the electric current of the comparison electromagnet, then controlthe comparison decompression valve output's pressure, thus controlthe position that the lord change toward the valve ,so it is therealization to control the work position of the work liquidpresses.While designing the hardware electric circuit, this text adoptsthe dependable and mature electric circuit possibly and much.For makingthe system have the good control result, built up the mathematics modelof the system each part in the text, beg a square distance of mathematics,then according to the mathematics square distance of the each part begthe system delivers function and carries on the control calculate wayof research, studied a differential calculus of improvement on thefoundation that the numerical type PID controls the calculate way inadvance the PID control calculate way and carried on to whole settlethrough experiment.Request according to the control, and adoptivecontrol calculate way, this text designed the control software of thesystem, drawing up a machine control procedureAt designing on the soft, the hardware and the overall of , thistext considered the actual work condition of the system well,establishing the middle dying area of the hand handle signal, to removethe mistake action of the system;At the same time, in order to adaptthe work frequency of the comparison valve, make use of the MCS toresolve the frequency of the outputted PWM signal , the average electriccurrent is guaranted to pass the comparison valve be unchanged.