Design And Implementation Of Automatic Control System For Mining Robot

At present,hydraulic excavator has become one of the most important mechanical equipment in infrastructure engineering and disaster relief.Due to the bad working environment,high working intensity and often accompanied with danger,there are many restrictions on the scope of hydraulic excavator.In order to improve the working ability and efficiency of excavator,intellectualization has become the main trend of excavator development,and the realization of automatic control of excavator is the most basic condition of intelligent excavator.In order to establish a research platform of intelligent excavator robot and carry out relevant research on excavator intellectualization,this paper takes lipai pc1012 small hydraulic excavator as the research object,improves its hydraulic system,designs the control system of the small excavator,realizes the automatic control of the excavator,and carries out experimental verification on the track tracking of the excavator.The main contents of this paper are as followsFirst of all,in order to realize the automatic control of the excavator,based on the analysis of the structure and functional requirements of the intelligent digging robot research platform,the transformation scheme of the hydraulic system of the digging machine is designed,and the transformation of the hydraulic system of the excavator is completed.Then,according to the requirements of intelligent mining robot research platform,the design scheme of automatic control system of mining robot is formulated,the schematic diagram of control system is drawn,the software and hardware design of control system is completed,and the automatic control system of mining robot is established.Finally,the mathematical model of the control system of the excavator robot is established,and the PID controller design and parameter tuning are completed.On this basis,the track tracking test of the excavator is carried out.The experimental results verify the effectiveness of the research platform,and lay a foundation for further research on the related science and technology in the field of excavator intelligence.