Research On Adaptive Control Of Loaders In Digging

Title of the Dissertation:Research on Adaptive Control of Loaders in Digging Major: Mechanical Electronic EngineeringWith the rapid development of the technology of the Mechanics and Electronics, the applications of the automatization used in engineering machines are advancing. As the loader is one of the main types of the engineering machines, it is applied widely among the engineering operation. However, the work of shoveling material is manipulated by manipulator controlling the handle of the shaking arms or the bucket at present in domestic loader field. And during the process of the manual controlling, there is random at the position of unloading and shoveling. At the mean while, due to the bucket can not flat automatically, the manipulator has to adjust the shoveling angle. Moreover, because of the objects of the work are complicated and changing from time to time, the loader has to vary its position too. So the efficiency of the shoveling is mostly determined by the experiences, skills and desires of the manipulators.In order to improve the work efficiency of the loader, and to find a trajectory with smaller energy consumption, the article do the researches that focus on the shoveling auto-control of the manipulators on the loader. The detailed elaborations as following:1.Determined the trajectories of the loaders , According to experiences and literatures. Established coordinates, using the theory of D-H. Obtained the transformation matrixof bucket relative to the frame. Achieve conversion from cartesian coordinates to joint coordinates of the loader's track. Then gained conversion from joint coordinates to drive space. Finally gained equation of the two cylinders.2.Give the force in the process of carrying out the loader's trajectory. Build a Model of a ZL40,and then import it to Adams to simulate, The result shows the same and differences between the linear and the curvilinear path. 3.Digital electro-hydraulic proportional valve is used to control the Working Equipment of the Loader. And build a model of the plural channel valve-piston position controlling system. Then obtained transfer function between the displacement of the hydraulic cylinder. Both positive and negative points to the campaign to discuss the situation. I discussed the direction of both positive and negative respectively.4.Model Reference Adaptive Controllers were designed to simulate the hydraulic control system of the loader's working equipment. The results showed that reference adaptive control eliminate asymmetry of the loader's output in order to achieve good control effect, and more MRAC has a capability to adapt changes of parameters and MRAC can reject disturbances.The researches in this theme make a certain value for the loader's manipulator shoveling auto-control.