Based On Sopc Hydraulic Excavators Operating Unit Control System Study

Nowadays, as the rapid development of embeded technology, in order to enhance the automation and intelligence degree of hydraulic excavator and improve controlling precision, combining character of engineering mechanism development and SOC technology, controlling platform of the hydraulic excavator device is built by SOPC, realizing the combination of electronic technology and engineering mechanism, and this is the trend of electronic technology and engineering mechanism development.Firstly thesis built PWM signal output model of the device of hydraulic excavator to carry out real time control to electrico-hydraulic proportional valve. Model of other components of electrico-hydraulic proportional system were studied. Finally electrico-hydraulic proportional system model was built. To validate the stability of electrico-hydraulic proportional system and develop right arithmetic of motion control, controlling performance was analyzed, and then the stability and response character was confirmed. Then PID controlling arithmetic was added, the system performance was improved by adjusting parameter, which meaned to try to advance system response rate and confirm stability of the system.In order to achieve feedback link of excavator motion control based on SOPC, CAN bus control project was studied based IP core technology, CAN bus IP core was analyzed, then CAN bus driving programme was designed. Under the CANopen agreement, CAN bus network was realized.After accomplishing the above work, thesis analysed structure of the whole system, built software and hardware system model, and achieved the system of excavator motion control. In system design aspect, thesis analysed the use of the resource of system and processor performance, then improving hardware system sequential performance and advancing rate of the processor. After the reasonable layout of the software, to improve the system performance, thesis used custom instruction technology, float point custom instruction unit, C2H hardware speedup and DSP module to realize accelerated system and improve system performance. On the situation of meeting control demand, the use of resource and processing rate was rationally regulated.Finally, thesis wrote corresponding control programme to validate function of every module, develop digital PID algorithm to control current of the device and drive hydraulic cylinder. Then trajectory tracking experiment has been done. By analyzing result of the trajectory tracking, it is verified that controller can carry out anticipated function.