基于DSP的沥青混凝土摊铺机行驶系统数字控制器的研究

【作者】 郝鹏；

【导师】 焦生杰；

【作者基本信息】 长安大学 ， 机械设计及理论， 2003， 硕士

【摘要】 沥青混凝土摊铺机作为公路建设的主要设备之一，其技术水平和智能化程度直接影响路面施工的质量。摊铺机行驶系统的自动化控制是其技术水平提升的重要环节之一。本文对摊铺机行驶驱动的液压系统及其控制方式进行了分析，提出了比较合理的控制方案，用DSP作为数字控制器的核心器件完成了控制器的硬件设计，利用了CC2000软件完成了控制器的软件设计。在实现摊铺机的前进／后退、停车、起步、左／右转向及原地转向等基本功能的基础上，重点讨论了摊铺机工作在摊铺状态下的恒速控制问题。针对摊铺机起步、停车的冲击问题，提出了最短斜坡函数的设计方法；针对摊铺机低速不稳定性问题，分别采用带死区的PID和模糊自适应PID算法相结合的方法进行控制。利用MATLAB软件对PID参数进行了优化，最后通过实验对控制器的功能及控制性能进行了检验，并进行了改进。更多还原

【Abstract】 As one of the important machines used in highway buildings, the technical level and intelligent degree of the asphalt paver has directly affected the quality of construction. The auto control of the travelingsystem of the paver plays one of the most important roles in this improving. The transmission method and control theory of the hydraulic traveling system of the paver are analyzed in the paper. And so on, a specific and reasonable strategy has been put out. The paper accomplishes the hardware design of the control system utilizing DSP and the software utilizing CC2000 software. It not only controls the machine’ s running forwards and backwards starting, braking turning right and left, and so on , but also puts great emphasis on the study of constant-velocity control. Aiming at solving the shocking problem during the processes of starting and stopping of the traveling hydraulic system, the paper has set up a the ramping function of the minimum ramping time. It combines the fuzzy-adjustable-PID control strategy and the dead-domain control strategy to solves no-stable problem when paver works at low speed. It also optimizes the PID-parameter by MATLAB software. Finally, the function and property of the controller is verified and adjusted by experiment.更多还原