【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。更多还原

【Abstract】 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.更多还原