面向沥青路面无人压实的压路机改装和控制技术  

Roller Retrofitting and Control Technology for Unmanned Compaction of Asphalt Pavement

作　　者：金永权 田博远 吴荻非 JIN Yongquan;TIAN Boyuan;WU Difei(China State Construction Railway Investment&Engineering Group Co.,Ltd.,Beijing 102600,China;Key Laboratory of Road and Traffic Engineering,Ministry of Education,Tongji University,Shanghai 201804,China)

机构地区：[1]中建铁路投资建设集团有限公司,北京102600 [2]同济大学道路与交通工程教育部重点实验室,上海201800

出　　处：《交通科技》2025年第2期7-11,49,共6页Transportation Science & Technology

基　　金：上海市科技行动计划计划项目(20dz1202104);中建三局集团研发项目(CECEC-2022-01)资助。

摘　　要：针对路面压实的无人化需求,文中提出现有压路机的改装与控制方案,包括传感器集成、控制系统设计和设备改造。通过加装GPS、角度编码器和LTE等设备,实现实时环境感知与高精度路径跟踪,并基于双钢轮压路机运动学模型采用PID控制确保精准作业。在武汉绕城高速的实地测试中,基于3次贝塞尔曲线的轨迹规划与控制方法将平均循迹误差控制在5 cm内,多级协同偏差在20 cm内,有效提升了无人压路机的协同作业效率与精度。To address the unmanned requirements for road compaction,a retrofit and control solution for existing rollersare proposed,including sensor integration,control system design,and equipment modification.By incorporating GPS,angle encoders,and LTE devices,the real-time environmental perception and high-precision path trackingare achieved.Based on the kinematic model of a double-drum roller,PID control is employed to ensure precise operations.Field tests conducted on Wuhan Ring Expressway demonstrate that the trajectory planning and control method based on cubic Bézier curves successfully keeps the average tracking error within 5 cm and multi-machine coordination deviation within 20 cm,significantly improving the efficiency and accuracy of coordinated operations for unmanned rollers.

关 键 词：无人压实 PID控制 路径规划 压路机改造 

分 类 号：U415.52[交通运输工程—道路与铁道工程]