An intelligent control method and device for asphalt gravel spreading by a synchronous gravel sealing vehicle

Abstract

The invention discloses a method and a device for intelligently controlling asphalt and crushed stone spreading of a synchronous chip sealer. A sensing system mainly comprising an ultrasonic sensor, a pressure sensor, a speed sensor and an infrared sensor is used for detecting ambient environment information, the detected information is analyzed through a data layer, a feature layer and a decision layer to determine final execution data, a BP (back propagation) neural network algorithm is introduced into a conventional PID (proportion integration differentiation) controller, an information neural network is built, PID control parameters are adjusted on line by the aid of the self-learning capacity and the approach arbitrary function capacity of the neural network, and output of the neural network corresponds to PID control parameters under a certain optimal control law and serves as input of the conventional PID controller to control the spreading quantity of asphalt and crushed stones. The shortcomings of an existing PID controller are overcome, and spreading precision, reliability, stability and complex environment adaptability of an asphalt spreading and crushed stone spreading control system of the synchronous chip sealer are improved.

Description

technical field [0001] The invention relates to an intelligent control method and device for asphalt gravel spreading by a synchronous gravel sealing vehicle, and belongs to the technical field of synchronous gravel sealing vehicle control systems. Background technique [0002] Most of the traditional synchronous gravel sealing vehicles use manual adjustment to control the pump speed, drum speed, feeding speed and the size of the material door. The asphalt spreading of very few distributors is adjusted by traditional PID. For gravel, it is There is no adjustment based on experience. In other words, very few conventional PID control methods are used to control the spreading system, that is, the PID control method has not been widely used for the control of gravel and asphalt spreading. [0003] At present, the conventional PID control system is composed of the controlled object and the traditional PID controller, among which, such as Figure 7 As shown in the traditional PID ...

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Problems solved by technology

Most of these parameter tuning methods are based on the precise mathematical model of the controlled object, and determine the PID control parameters according to a certain tuning principle, that is, the control parameters are mostly derived by trial and error or related formulas, which are only suitable for Under certain conditions, the ideal control effect can be achieved

[0009] Generally speaking, the traditional PID control system has defects such as poor anti-interference ability and difficulty in parameter setting. Uncertain systems such as time-varying, nonlinear, and variable parameters of vehicle gravel spreading and asphalt spreading, as well as complex control systems that are difficult to establish accurate mathematical models, will lead to synchronous gravel sealing vehicles in asphalt spreading and gravel spreading. Disadvantages such as difficult to guarantee spreading accuracy, poor controllability and poor stability appear in the process

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