Justification of the method of controlling the manipulator installations of trucks
DOI:
https://doi.org/10.31734/agroengineering2023.27.035Keywords:
manipulator crane, hydraulic drive, servo drive, electronic control systemAbstract
Transportation often requires loading and unloading cargo in areas beyond fixed warehouses, such as the field. To meet these needs, trucks equipped with manipulators are typically utilized. Hydraulic drives are commonly used in these manipulators, as they provide sufficient power and performance and can be easily integrated into a car's standard hydraulic system.
To substantiate the effective control system of the manipulator's hydraulic drive, a model of the truck's side was developed, consisting of an on-board platform; rotary module, power part (arrow, beam), hydraulic drive, electrical part (drive, control), and cargo lifter with servo drive.
A rational model of the electronic hydraulic drive control system of a manipulator crane for use in universal crane-manipulator installations on an automobile, self-propelled, and trailer chassis is proposed. This helps to increase the efficiency of loading and unloading operations while reducing the number of equipment and workers involved in cargo handling outside warehouses.
The authors propose an architecture of control of manipulator installations with a low cost of its implementation and a simple, understandable setting. The use of the proposed technology and electronic control scheme provides control of a complex system of drives, and allows for flexible settings according to the user's needs, e.g. to control the manipulator crane remotely via a radio channel or limit the amount of movement in certain directions.
To control the executive mechanisms of the manipulator crane, a hardware-computing platform with an Ardiuno microcontroller was used with the Processing/Wiring software development environment in the programming language, which is a subset of C/C++ and ensures: uninterrupted operation of the mechanisms during operation; their start and braking; informativeness, accuracy, and efficiency of mechanisms; minimal static and dynamic loads with reduced inertial action during cargo movement.
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