Design Of Control System For Dead Pig Vehicle Based On High Power DC Brush Motor

Along with the rise of the living standard,on the increasingly people’s consumption demand for pork,and the large-scale modern pig breeding industry develops rapidly.In large pig farms,once pig deaths occur,in order to avoid the spread of disease to other healthy pigs,it is necessary to remove the sick or dead pigs from the pig houses as soon as possible.Manual treatment is time-consuming and laborious especially for large adult sick or dead pigs,the lack of professional handling equipment is more difficult to clean up.To address these issues,in this paper,on the basis of the self-developed large-scale sick pig transport vehicle developed by our laboratory,we studied the high power permanent magnet direct current(DC)motor and the DC drive control survey in electric winch on dead pig vehicle,and the variable load control strategy is studied according to the actual operation of the carrier,in order to realize reservation function of handling large dead pigs.The drive and control system of the sick and dead pig carrier based on the high power DC brush motor is established according to the working and operation characteristics of the sick or dead pig vehicle and the design requirements of the large load,and the control system consists of a chassis drive control system and an electric winch control system.The chassis drive system is based on STM32 single-chip microcomputer as the main controller.The upper computer program is written and burned into the single-chip microcomputer.On the basis of former research,we studied the high power DC motor drive,designed the auxiliary power circuit and current detection circuit based on current sensor ACS712,used over-current protection circuit composed of double op-amp chip LM358 and battery under-voltage warning circuit,the STM32 MCU peripherals Liquid Crystal Display(LCD)monitor and its Input / Output(I/O)interface were used to display the vehicle status information.High-power electric winch control system to control the winch motor as the core,the winch motor is usually low voltage high power brushless DC motor,according to the characteristics of large operating current of low-voltage and high-power motor,in order to relay as a switch to control the running direction of electric winch,we use power Metal-Oxide-Semiconductor Field-Effect Transistor(MOSFET)parallel strategies to improve electric winch drive circuit flow ability,The operation of the electric winch is controlled by the control signal generated by the main controller STM32.The circuit simulation software is used to simulate and analyze the designed hardware circuit,and then the no-load and load test under general road conditions is carried out on the developed sick pig vehicle,and the long-running training of large load is carried out to verify the start and speed of the drive,turning performance and stability,also tested the continuous overcurrent capability and heat dissipation performance of the drive,measured the maximum working range of the electric winch and the maximum continuous working current of the chassis motor drive,summarized the problems encountered and further optimized and improved.Through simulation analysis and experimental verification,the experimental results show that the designed electric winch control system can effectively control the operation of the electric winch,the maximum lifting weight is 320 kg.The designed chassis drive control system has stable operation and strong driving ability,favorable performance of start-stop and speed adjustment and inexpensive,and the working current of 45 A can be continuously passed,which provides a solution for solving the driving problem of the high-power brushed DC motor.