Abstract

Info

Title:: Design of FOCbased control system of electric crawlertype remote controlled hedge trimmer

Author(s):: SI Guimao; ZHAN Ziquan; ZHI Jingjing; SHI Yu; (Key Laboratory for Highway Construction Technology and Equipment of Ministry of Education,Changan University, Xian 710064, Shaanxi, China)

Keywords:: mechanical engineering; electric crawler type remote controlled hedge trimmer; field oriented control; control system; ADRC

Abstract:: To solve the problem of the excessive yaw angle when the electric crawler type remote controlled hedgetrimmer worked by the remote control, which resulted in the frequent manual adjustment because of the unbalanced load exerting into the different side of tracks, the causes were analyzed and a type of the control system was introduced. The theoretical load and velocity were researched according to the vehicles dynamic theory in typical working condition, including the straight ground, 30 degree of the longitudinal slope and 30 degree of the cross slope. The high voltage bus, the low voltage bus and the communication bus were set in the system to enable the controller, sensors and motors to work and communicate. Two field oriented control (FOC) simulation, the one was controlled by traditional PI algorithm and the other was controlled by active disturbances rejection control technique (ADRC) were built in MATLAB/Simulink to compare their robustness by analyzing their fluctuations of velocity and torque figures when the load was changed suddenly. The results show that the design of control system could support the trimmers work in remote control and the new type algorithm is obviously beneficial to the system robustness, which leads to about 5 times increase of the steady state time without overshoot in system and about 40% of improvement of torque fluctuation and the steady time. 1 tab, 6 figs, 28 refs.