Remote controlled skidsteer iCC 2017 Jeremy Lebon iCC 2017 1 - PowerPoint PPT Presentation

Oct 20, 2023 •121 likes •351 views

Research group - In vehilce networks Remote controlled skidsteer iCC 2017 Jeremy Lebon iCC 2017 1 VIVES University College - Association KU Leuven West-Flanders 2 iCC 2017 Research group - In vehilce networks Research Consultancy

Research group - In vehilce networks Remote controlled skidsteer iCC 2017 Jeremy Lebon iCC 2017 1
VIVES University College - Association KU Leuven West-Flanders 2 iCC 2017
Research group - In vehilce networks Research Consultancy Training Support and • In vehicle networks consultancy to (CAN, J1939, ISOBUS, CANOpen, businesses LIN, FlexRay ,…) • Mobile Automation (CoDeSys, Bodas, MRS studio) Frédéric Lazoore Jeremy Lebon Sam Schotte 3 iCC 2017
Agenda • Introduction • Objectives of the project • Machine overview • Network overview • Components • Future 4 iCC 2017
Introduction 300 ton of bombs every year 5 iCC 2017
Objectives • Modify a mechanical controlled skidsteer • Hydraulical, electrical and mechanical modifications • Integration of different CAN networks 6 iCC 2017
Machine overview Lights Horn Safety controller Gas throttle Act. Hydr. Act. Remote control Diesel pump Starter VISUALIZATION Inclinosensor Traction lock INPUTS Display OUTPUTS 7 iCC 2017
Network overview 8 iCC 2017
CAN Networks CANopen network Remote control receiver Node ID: 100 CANopen CANopen Slave Master TX-PDO 125 kbps CAN 1 TX-PDO Node ID: 127 CANopen Slave Node ID: 10 Inclinosensor 9 iCC 2017
CAN Networks SAE J1939 - network 250 kbps CAN 3 10 iCC 2017
CAN Networks Proprietary CAN networks CoDeSys CAN 2 250 kbps CAN 4 250 kbps 11 iCC 2017
Components Safety control ler • 4 CAN busses – CANopen – J1939 – Proprietary • 8 PWM-I outputs – Used for Hydraulics actuators • 4 Digital outputs for switching relays 12 iCC 2017
Components Remote control 2 TX- PDO’s 13 iCC 2017
Components Inclinosensor 14 iCC 2017
Components Gas throttle actuator TFAC SAE J1939 CAN 3 LFE1 Gas Throttle Actuator 50000 40000 Value 30000 20000 10000 0 0 20 40 60 Distance in mm 15 iCC 2017
Components Display 16 iCC 2017
Programming IEC 61131 17 iCC 2017
Mechanics 18 iCC 2017
Hydraulics Hydraulic actuator PWM – I (800 to 1800mA) Flow according to CANopen Data 2000 1800 1600 Current (mA) 1400 1200 1000 800 600 400 200 0 0 50 100 150 200 250 CANopen data (dec) 19 iCC 2017
Future (2016-17) Adjustments • Replacing controller Additions for 2016-17 • Adding counter balance weight • Adding a camera system • Adding pressure sensors for a complete self-diagnose • Adding a speed sensor 20 iCC 2017
Future – ‘ Dreams ’ Additions for 2017-18 • Adding 3D camera for detection of obstructions • Adding GPS RTK tracking/driving 21 iCC 2017
Thank you for your attention Questions? Contact: jeremy.lebon@vives.be 22 iCC 2017

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