Отправлено Алексей Мусин 10 марта 2003 г. 15:04 В ответ на: Ну-ну. Всякие мотроники засовывают в литые стальные корпуса и защита стоит там на каждом пине. отправлено Alexandr 10 марта 2003 г. 14:50

2. The ground drive controller module for trenchers/saw tractors

The module provides the automatic or manual control over the hydrostatic transmission used on the trencher/saw tractors. In the automatic mode, the ground advance speed is maintained accordingly to the load on the digging tool. That keeps the tractor engine running at the optimum power, and also significantly decreases the labor-intensiveness for the tractor operator. In the manual mode, the ground drive is controlled directly by the operator.
The control algorithm is based on PID approach with fuzzy constraints. The output of the module is the PWM signal, which is applied to the electrically controlled variable displacement pump of the transmission.
In the process of the development of the controller we created the mathematical model of the tractor. The control algorithm was optimized using the model. The tests on the real machine exhibited the good coincidence with the modeling results.
The module was implemented using Atmel AVR AT90S8535 microcontroller. The software was developed in C language.

3. The rear axle steering controller for tractors

The rear axle controller is an electronically controlled hydraulic servo, which sets the rear axle wheels to the predefined position. The position may be set ether to be the same with the position of the front wheels, either to be the opposite to the front wheels, or manually selected. The rear steering improves the maneuverability of the tractor, which is important in the limited space of the jobsite.
The rear axle steering controller was built using Atmel AVR AT90S4433 microprocessor. The software was developed in C language.

4. The trenching depth controller for trencher tractors

The trenching depth controller continuously measures the operating depth and controls the digging tool to maintain the depth at the desired level. The depth is calculated using the tractor geometrical parameters and the estimated slope of the terrain. The digging boom and the frame angular positions are measured by the use of the MEMS accelerometers. The slope of the terrain is estimated by integration of the chassis tilt while the tractor is advancing forward.
The controller was implemented using Atmel AVR Mega103 CPU. The software was developed in C language. The total code size is about 5000 lines.

• http://www.abvolt.com/projects.htm#2