Research On Key Technology Of Bulldozing Control

Bulldozing control is one of the most important technologies in intelligent bulldozer research. It can greatly improve the performance of bulldozer. The subject designs a set of automatic control system which is aiming at maximizing the operation efficiency of bulldozer. This paper is mainly consisted by the following four parts:1. Structure design of bulldozing control system. With the basic structure of traditional bulldozer unchanged, the control system is formed by adding hydraulic and electric components. The paper designs the hydraulic system and chooses all the components while briefly introducing the DSP controller.2. Research of control strategy. There are two ways to maximize the operation efficiency, full use of engine power and power matching between engine and drive set, which can be done by controlling engine speed and slip rate. So the control strategy named PID control with limits control, dead-time compensation and speed feedback is decided. In the end, the control process is determined. Combined with the engine management system, simple energy saving control can be made.3. Modeling and simulation. Hydraulic system, soil resistance and engine are modeled and three different road situations are designed. So the control system can be tested in harsh road situations by simulation.4. Experimental table design and experimental verification. Under limited conditions, a semi-virtual and semi-physical experimental table which is made up by a PC, a DSP controller and hydraulic system is design and constructed. In PC, there are bulldozer model and main controller. Main controller conducts an overall inspection and control. DSP controller is the signal transmission center, conducting the signal transmission between main controller and hydraulic system. Hydraulic system is formed by driving system and virtual loading system. The virtual loading system can load the driving system virtually. After system debugging and experiments, some good results are achieved and simulation results are also verified.