Intelligent control method for travelling system of spreader

Abstract

The invention discloses an intelligent control method for a paver running system, which belongs to the method for controlling the paver running and refers to that: a wheel speed is set, and the running of a left wheel is controlled after the set value input of the left wheel is connected in series and overlapped with the output signal of a left wheel PID controller; the speed signals of the left and a right wheels are simultaneously fed back through a sensor to: 1. the input ends of the PID controllers of the left and the right wheels, which forms closed loop control when compared with a set value; 2. the signal mutual subtraction link of the left and the right wheel sensors; wheel speed difference obtained and distance difference obtained after an integral circuit are used as two input variables to a fuzzy controller, the amendment quantity of the right wheel is determined, and the set value amendment quantity of the right wheel and the set value of the set value input end of the right wheel are overlapped so as to control the working state of the paver. The method of the invention has the advantages of effectively solving the running straight deviation of the paver, effectively preventing the mutual interference of each control action, optimizing the control performance of the control device, improving operation comfort, alleviating the labor intensity of driver, and improving road construction quality.

Description

technical field [0001] The invention relates to a method for controlling the walking of a paver, in particular to an intelligent control method for the walking system of the paver. Background technique [0002] At present, the walking system of paver mostly adopts the walking system driven by double pumps and double motors. The control system hardware of the system adopts the electronic constant speed control system with PLC as the core. The control system includes: PLC as the controller, a sensor installed on the output shaft of the motor, and an electromagnetic proportional valve controlling the flow of the pump as the actuator. The control scheme mostly adopts single closed-loop, double closed-loop and triple closed-loop control methods. [0003] The single closed-loop control method is to control the left and right wheels separately, that is, the speed of the left and right motors is compared with the set value, and the PID control scheme is used to eliminate the devia...

AI Technical Summary

Problems solved by technology

The disadvantage of this control scheme is that once the left and right wheels of the paver deflect, the control system cannot automatically correct the deviation

Although this control method uses the distance difference between the left and right wheels as a control variable to participate in the walking control of the paver, the three control variables are superimposed in parallel, which is easy to interfere with each other, and finally the control effect of the control variable involved in deviation correction cannot be fully exerted. effect, can not effectively solve the paver walking deviation

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