| In recent years, with the development of China’s agriculture industry transformation, horticulture has become a sector mainly engaged by some farmers in our country step by step, but its orchard planting and management mechanism are relatively backward, which are modified from field farm equipment mostly.Control method adopts primarily artificial direct control.The process of controlling is not only complex but also inefficient and unqualified. Therefore, this thesis aims to design assorted control system of the new crawler Orchard platform made by the project group. By wireless remote control operation, the platform moving forward/backward, turn, jobs related to lifting, telescopic extensions and rear suspension machines operation.Specific research includes:(1) Analyzing the agronomic requirements and Orchard operations Orchard Platform Overview, presenting based on electro-hydraulic proportional control technology of hydraulic drive and control strategy of PID, achieving overall control program of the control of the Orchard platform calls for.(2) Basing on analysis of Orchard work demands and work environment, combining with its hydraulic systems and mechanical actuator, analyzing Orchard work platform driving control system and work platform lifting control system, presenting lifting platform kinematics and mechanics equation with transient velocity and virtual displacement methods,and camping up with specific control programs.(3) Basing on the platform of hydraulic system,through comparing microcontroller, PLC as well as the advantages and disadvantages of DSP controller, TCC1010 controller is identified as the central processing unit control system and selection of hardware components, namely the main control box units, remote control unit, sensors and so on.(4) Designing for the job control system of platform hardware systems, including input/output hardware circuit design of the controller, remote control circuit, engine start-stop lines, safety auxiliary circuit design and so on.(5) Analyzing control system functional requirements, and designing for flowcharts of the main course to the control system and function modules, taking advantage of CoDesys software to develop environment,and using the ST language to write the software program of crawler Orchard platform.(6) Establishing mathematical model of hydraulic components selected based on the electro-hydraulic proportional control system mastered by speed, for which,using MATLAB/Simulink to build physical models and simulatie to optimized design PID parameters design, in the end,to get to the system’s response and by which to verify the characteristics of the platform. |
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