摊铺机行走系统的智能控制技术研究  

Research on Intelligent Control Technique of the Paver's Traveling System

作　　者：白代萍[1] 丁静[1] 何培英[1] 张德海[1] 

机构地区：[1]郑州轻工业学院机电工程学院,河南郑州450002

出　　处：《机床与液压》2014年第1期55-57,共3页Machine Tool & Hydraulics

基　　金：河南省基础与前沿技术研究项目(132300410181);河南省教育厅科学技术研究重点项目科技攻关计划项目(13A460372);河南省教育厅科学技术研究重点项目指导计划项目(13B460333);郑州市科技攻关项目(131PPTGG411-7);郑州轻工业学院校一般项目科研基金项目(2012XJJ012);郑州轻工业学院博士科研基金资助项目

摘　　要：为了提高履带式摊铺机行走性能,提出了一套摊铺机行走系统的新控制方案。该控制方案采用左轮进行PID恒速控制以保证摊铺机整机恒速行驶,右轮的整个控制框架采用模糊控制和PID控制的串联结构,模糊算法根据左右轮的距离差和速度差微调右轮的速度设定值,使左右轮的距离差和速度差的控制目标始终为恒值,从而实时地保证摊铺机沿预定轨迹行走。试验证明:该方案允许控制系统中电磁阀的参数和软件中参数存在偏差,能够有效解决摊铺机行走跑偏量,防止了摊铺机的摆头和振荡的现象,优化了控制装置的控制性能,将摊铺机出厂的直线跑偏量指标由2%提升到了0.5%以内,其抗干扰能力大大提高。In order to improve the traveling performance of crawler paver,a new control plan for paver’s traveling system was proposed. In the control plan,velocity closed loop control was adopted for the left wheel in order to keep constant-speed moving of the paver. The series structure of fuzzy control and PID control was adopted for the right wheel in which the fuzzy controller was used to slightly adjust the right wheel set-point of PID controller according to the distance difference variable and velocity differences variable of paver’s left wheel and rignt wheel. The experimental results show that the new control plan makes the paver’distance difference index reduce from 2% to 0.5%when running straight 50 m.

关 键 词：摊铺机 即插即用 跑偏量 模糊控制 PID 

分 类 号：TK124[动力工程及工程热物理—工程热物理] TK172[动力工程及工程热物理—热能工程]