Design Of Traction Machine Controller Based On STM32F407

Tractor is an indispensable engineering machine in the construction of high voltage transmission lines above 220 kV.There are few researches on the automation and network of tractor in domestic.This article aims at the renovation needs of the tractor in the electric power construction enterprises,makes an in-depth study of the control system of the tractors,and researchs on a tractor controller based on the STM32F407.The thesis mainly completes the following content:First of all,this paper analyzes the relevant technical performance index of the hydraulic system of the tractor,establishes the mathematical model of the volume control of the engine,single hydraulic pump and hydraulic motor,and adopts the cascade PID control strategy.The model is established in Matlab/Simulink,and the control of the engine’s speed and the proportional valve’s inclination is simulated to realize the adjustment of the speed of the hydraulic motor.Secondly,the working principle of the tailstock winding system of the tractor is analyzed,the mathematical formula of the left and right moving speed of the wire feeder is derivated.This article adopts a incremental PI control strategy and completes tests.Then,this article takes STM32F407ZGT6 as main control chip to build the tractor control system,and designs the software program.Hardware can be divided into main controller module,data acquisition module,digital IO output module and communication and storage module.Software mainly includes data acquisition,communication and storage,traction system control,tailstock winding system control,and touch screen’s human-computer interface is designed.Finally,this paper completes the field debugging of the entire control system’s software and hardware and finishes the proofreading and related functional testing of each module.The tractor was conducted single traction experiment and two-tractors’ network no-load experiment.The relevant data was recorded and the specific error reason was analyzed.The system effectively enhances the control precision and control speed of the traction system and the tailstock winding system of the tractor,and improves the efficiency and network level of the tractor.