Simulation And Experimental Research On The Control System Of Remote Driving Robot Pedal Actuator

With the development of computer technology,remote control and automatic control technology and communication sensing technology,modern engineering machinery is increasingly moving towards the direction of intelligence and robotization.This subject does not change the engineering machinery itself,mainly studies the application of electric cylinder servo control technology,wireless remote control technology,automatic control in the engineering machinery remote driving robot pedal actuator control system.The simulation analysis of the throttle pedal electric actuator servo control system is carried out,and the remote follow-up control of the throttle pedal electric actuator servo control test device is realized through experimental research.The follow-up effect of the pedal in electric actuator is relatively ideal.The main research contents of this paper are as follows:1.Introduce the background significance of this research and the research status of remote driving robot in the field of engineering machinery at home and abroad,expound the specific research direction and research ideas of this subject: this subject does not change the engineering machinery itself,mainly studies the application of electric cylinder servo control technology,wireless remote control technology,automatic control in the remote driving robot pedal actuator control system.2.Expound the composition and working principle of the remote driving robot control system of engineering machinery,formulate the overall design scheme of the control system,divide the control system into three parts: remote control workstation,wireless remote control signal transmission system and electric actuator,and introduce the technical route of each part in detail.3.Establish mathematical model of the throttle pedal electric actuator,then build the open loop control system simulation model of the electric actuator in Matlab/simulink so as to conduct simulation analysis.Specifically build the simulation models of stepper motor and its driver,ball screw,driving medium andactuator accelerator pedal.Then analyze the response of stepper motor to the given position signal and the response curve of open loop control model under the given pedal Angle signal based on the above simulation model.4.Due to the stepping motor's out-of-step phenomenon,the positioning accuracy of the open loop control of the electric actuator is not high.Therefore,this paper introduces the position closed-loop control algorithm to basically eliminate the position error of the open-loop control.The position loop controller based on the traditional PID and the fuzzy adaptive PID position loop controller are developed.Finally,the simulation model of the position servo system of the electric actuator is built.The simulation analysis shows that the control effect of fuzzy PID position closed loop control algorithm is better than traditional PID algorithm,the system response is fast,the trajectory tracking effect of the pedal in electric actuator is significant,and the real-time corner signal of pedal in the simulated cab can be well followed by the pedal in electric actuator.5.Build test bench and its remote follow-up control system to conduct experimental research for remote driving robot pedal actuator.The control program of input and execution is developed,including:encoder signal acquisition,serial port transmission,serial port receiving,electric actuator position speed double closed-loop control algorithm.On the basis of the test bench,the pedal Angle signal is transmitted to the electric cylinder via the wireless data transmission station when Manipulating pedal in the simulated cab,then make the push rod of the electric cylinder extend or retract.The pedal in electric actuator can be manipulated by the joint bearing and the pedal connection seat.The follow-up precision of the pedal in electric actuator is higher.The corner signal of the pedal in electric actuator can be fed back to the controller in electric actuator,then the closed-loop control of pedal angular displacement is realized by the position loop control algorithm.