Development of automatic control system on large-sized trencher and pipe-layer

WANG Li-li1， HU Xiao-an1， WEI Li-guo1， LIU Gang2， ZHANG Xiao-chao1
（1. Chinese Academy of Agricultural Mechanization Sciences， Beijing 100083， China；
2. Key Laboratory of Modern Precision Agricultural System Integration Research， Ministry of Education，
China Agricultural University， Beijing 100083， China）

Abstract： In order to solve the key problems of 1KPZ-250 trencher and pipe-layer，hydraulic drive technology，electro-hydraulic control technology，sensor technology，GPS technology，human-machine environment engineering modularization technology were applied to the machine on the basis of analyzing its working principle and basic structure. Thus automatic control method in automatic level，automatic walking and ditching depth was put forward，besides，the automatic leveling control system，automatic navigation control system and laser height automatic control system were overall designed. The results indicate that，the dynamic quality of the system is good，it can automatically be adjusted to the horizontal position when the body is tilted；the machine can realize automatic navigation according to a predetermined path，and the yaw error can be controlled within 10 cm；ditching pipe laying elevation error can be controlled within 20 mm，it can meet the requirement of control system．
Key words： trencher and pipe-layer； automatic level control； automatic navigation； height control