Intelligent control method for travelling system of spreader

A technology of intelligent control and walking system, applied in controllers with specific characteristics, two-dimensional position/channel control, electric controllers, etc. Solve the problems of paver walking deviation and the control system can not automatically correct the deviation, so as to improve the construction quality, solve the walking deviation, and improve the operation efficiency

Inactive Publication Date: 2010-10-13
XCMG CONSTR MACHINERY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • Intelligent control method for travelling system of spreader
  • Intelligent control method for travelling system of spreader
  • Intelligent control method for travelling system of spreader

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0016] Example 1: In figure 1 , figure 2 Among them, the specific control process of the paver walking system of the present invention is: when the paver is in the straight line paving operation, the left wheel adopts single closed-loop control, that is, the set value of the left wheel and the output value of the left wheel PID controller are superimposed and output to control the left wheel. Pumps and motors work. The actual speed of the left wheel hydraulic motor is compared with the set value of the potentiometer, and the incremental PID is used to eliminate the deviation to achieve the constant speed control of the left wheel and ensure the overall walking speed of the paver. The right wheel adopts fuzzy PID intelligent control scheme. Set the linear paving deviation correction selection switch on the control panel of the paver. When the switch is at a high potential, subtract the actual speed of the left and right wheels to obtain the speed difference between the left ...

Embodiment 2

[0020] Example 2: figure 1 When the paver is in a non-straight paving operation (such as turning paving), the straight paving selection switch is at low potential, the fuzzy controller quits the control of the right wheel, and the variable of the distance difference between the left and right wheels in the software is automatically cleared to ensure the next step. One-time controls are not affected. At this time, the left and right wheels of the paver walking system are under independent single closed-loop control.

[0021] image 3 Among them, the upper dotted line is the upper limit value of the controller output, the lower dotted line is the lower limit value of the controller output, the straight line in the middle is the input setting value of the potentiometer, and the curve between the upper dotted line and the lower dotted line is the controller output value. Output the actual value. In the PID control of the above-mentioned paver constant speed control, the output c...

Embodiment 3

[0022] Example 3: figure 1 , when the paver walking system is in an open-loop state, the PID controller of the left wheel is disconnected, and the set value of the left wheel is directly output to control the pump and motor of the left wheel hydraulic system. The PID controller and fuzzy controller of the right wheel are all disconnected, and the set value of the right wheel is directly output to control the work of the pump and motor of the right wheel hydraulic system.

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G05B11/42E01C19/00
Inventor 尹修杰罗衍领胡传正魏彬吴建强景军清董拴牢杨军民杨履冰
Owner XCMG CONSTR MACHINERY
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