The Intelligent Control System Of Electric Excavator

In this paper, we make researches on the automation and intelligentizing of the electric excavator’s(WS—005) digging process, in order to find the way of industrial system’s controlled synchronization.This experiment via use PLCS7-200in order to control the contactor’s open or close,then control the four UFD055B43A transducers four and then to control the four current motors’ purpose,content includ use incremental encoder disc to measuring motor speed and use absolute encoder disk to test the obliquity of large arm and the circumgyrate angle of the action arm,use the current and voltage sensors to obtain the motor’s load,use Protel made circuit boards in order to receive these signals.Make these signals to the computer in order to find the relation. Find the small perturbation parameters discrete transfer function of the two motor and use fuzzy adaptive PID control to achieve the purposes of synchronous,and use MATLAB make synchronization simulation.The issue has important practical value and engineering significance.in the way of issue’s research,mainly complete the following aspects:(1) Use3/2coordinate transformation obtained the induction motors’mathematical model under the frequency conversion conditions.use motor simulation confirms the correctness of three-phase to two-phase theory,obtain the small parameter perturbation mathematical model in.neighborhood of the given point,Use C language versus the motor stator current simulating,obtain curve of external load and the stator current.(2) Obtain the best dig angle and the mine process’tracks and fitting,deduced the relationship formula of pressure and lifting.Obtain two motor’s small parameter perturbation equation, continuous and discrete transfer functions.Obtained this paper’s discrete transfer function of the small perturbation parameters based on the experimental bed’ parameters.(4) Illustrate PID control’s classification and explain their advantages and disadvantages, this paper use fuzzy adaptive PID control in order to achieve the synchronization of two motors,use MATLAB make synchronization simulation of excavator intelligent control,obtain the simulation curve of the speed, track and error.(4) Excavator system consists of hardware and software.Hardware includes three parts,including testing, implementation and control system.Software is use S7-200plc to control four transducers,and then to control four asynchronism electromotors positive, reverse and brake,finally achieve excavator’s Intelligent Control.