To enhance the remote operation performance of a hybrid loader,a controller is developed using a 32-bit high-performance microcontroller.Based on 5G communication technology and Simulink software,control strategies are designed for the loader's walking system,hydraulic system,braking system,steering system,and accessory systems.Experimental validation is conducted through tests on delay,braking,and operational performance to achieve remote driving control of the loader.The test results indicate that data transmission between the vehicle end and the remote end is complete,with a data transmission delay of approximately 25 ms.When the remote braking pedal is pressed,after about 0.3 s,the motor torque at the vehicle end drops from 100 N·m to 0;after about 0.7 s,the motor speed decreases from 800 r/min to 0.The loader's rocker arm and boom respond correctly to the control commands from the remote pilot handle,although there is a slight delay in action.The design of the remote driving control logic meets the requirements for remote driving and satisfies practical usage needs.
关键词
新能源装载机/远程驾驶/控制策略/功能测试
Key words
new energy loader/remote driving/control strategy/functional testing
维普
万方数据