装载机无线遥控技术的研究

发布时间：2018-04-28 19:34

本文选题：装载机 + 遥控　；参考：《青岛科技大学》2014年硕士论文

【摘要】：随着现代电子控制技术的发展，为装载机技术的发展提供了新的方向，遥控化、智能化成为了解决装载机现存问题的最佳方案。本文设计了一种基于stm32微控制器的装载机无线遥控系统，该系统可以降低驾驶员的劳动强度，避免危险工作环境可能造成的事故，提高驾驶操作精度，并为装载机自动化的进一步发展提供了条件。本文主要完成了以下工作：（1）根据装载机的实际工作需求和现有技术的发展状况，分析装载机遥控系统应完成的功能和实现的方法，设计了系统的总体结构，并选择stm32微控制器作为系统的控制中心。（2）通过比较装载机现有转向系统和未来发展方向，分析了铰接式转向的结构特点，设计了以电液比例阀为核心的先导回路使装载机液压系统能够接受遥控指令的控制，并对装载机其他机构如何接受遥控控制提出了方案。（3）通过分析stm32微控制器的应用特点和装载机工作环境的特点，设计了以nRF905为核心的无线通讯电路和以L9352B为核心的电液阀驱动电路，对电路功能和原理进行了说明，提出了为提高系统容错性的传感器冗余思想。（4）根据硬件电路结构和装载机的工作流程，提出了本系统的软件设计原则，设计了遥控系统发射端和接收端的软件流程，编写了相应的stm32源程序，并对程序进行了软件仿真，分析了提高系统抗干扰能力的措施。本文设计的遥控系统具有以下特点：（1）提出了以电液阀为核心的电控液压回路，使装载机的操作机构可以摆脱传统机械传动结构的限制。（2）选择了集成度高、性价比高的芯片构成硬件电路，提高了设计的成功率和灵活性。（3）选择使用微控制器输出的PWM控制电液阀的动作，控制精度更高，工作可靠。（4）整体系统成本低廉，结构简单，使用方便，具有广阔的应用前景。
[Abstract]:With the development of modern electronic control technology, it provides a new direction for the development of loader technology. Remote control and intelligence become the best solution to the existing problems of loader. A wireless remote control system of loader based on stm32 microcontroller is designed in this paper. The system can reduce the labor intensity of the driver, avoid the possible accidents caused by dangerous working environment, and improve the precision of driving operation. It also provides conditions for the further development of loader automation. The main work of this paper is as follows: 1) according to the actual working demand of loader and the development of the existing technology, the functions and methods of the remote control system of the loader are analyzed, the overall structure of the system is designed, and the stm32 microcontroller is selected as the control center of the system. 2) by comparing the current steering system and the future development direction of loader, the structural characteristics of articulated steering are analyzed, and the pilot circuit with electro-hydraulic proportional valve as the core is designed to enable the loader hydraulic system to accept the control of remote control instruction. The scheme of how to accept the remote control for other mechanism of loader is put forward. By analyzing the application characteristics of stm32 microcontroller and the working environment of loader, a wireless communication circuit with nRF905 as the core and an electro-hydraulic valve driving circuit with L9352B as the core are designed, and the function and principle of the circuit are explained. In order to improve the fault tolerance of the system, the idea of sensor redundancy is proposed. According to the hardware circuit structure and the working flow of the loader, the software design principle of the system is put forward, the software flow of the transmitter and receiver of the remote control system is designed, the corresponding stm32 source program is compiled, and the software simulation is carried out. The measures to improve the anti-interference ability of the system are analyzed. The remote control system designed in this paper has the following characteristics: In this paper, an electronic-hydraulic circuit with electro-hydraulic valve as the core is put forward, so that the operating mechanism of the loader can get rid of the limitation of the traditional mechanical transmission structure. The hardware circuit is composed of a chip with high integration and high performance to price ratio, which improves the success rate and flexibility of the design. The PWM output of microcontroller is chosen to control the operation of electro-hydraulic valve. The control precision is higher and the operation is reliable. The whole system has the advantages of low cost, simple structure and convenient use.
【学位授予单位】：青岛科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TH243;TP872

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