Control model acquisition method and system of 3D paving automatic leveling model and monitor installation position optimization method based on asphalt mixture material characteristics, controller and control method

Abstract

A control model acquisition method and system, a controller and a control method of a 3D paving automatic leveling model and monitor installation position optimization method based on asphalt mixture material characteristics, comprising the steps of 100, establishing a screed dynamical model, 200, establishing a 3D paving automatic control system model, 300, establishing a monitoring signal receiver installation position optimization method, and 400, establishing a monitoring signal receiver installation position optimization method. According to the method, the screed dynamical model is established, the interaction between the paving material and the screed is fully considered, the screed dynamical response influence factors are clear, then the 3D paving automatic leveling model is established to control the pavement flatness and the cross slope, and finally a monitor mounting position optimization method is put forward to improve the paving quality. According to the technical scheme, technical support is provided for development and reliable operation of asphalt pavement high-quality paving construction equipment.

Description

1. Technical Field

[0001] The present invention relates to a control model acquisition method and system, a controller and a control method, and in particular to a control model acquisition method and system, a controller and a control method for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics. 2. Background Technology

[0002] Different from existing paving operations, asphalt mixture 3D paving operations are digital and intelligent quality control operations. A 3D paving model is established based on the actual paving operation surface and design documents. A high-precision control network for pavement paving construction is constructed through design software. Control data is imported into the paver leveling control system. 3D paving operations are performed based on the automatic control system and construction monitoring. The paving automatic control system senses the position of the ironing plate through the monitor, determines the actual paving road elevation, and adjusts the height position of the ironing plate based on the difference between the calculated and control data, thereby achieving precise control of pavement paving construction.

[0003] The existing automatic paving control system in paving operations often only considers the dynamic characteristics of construction machinery and equipment, but does not fully consider the impact of paving material characteristics on construction quality.

[0004] The screed plate is an important part of the 3D paving control system, which directly interacts with the asphalt mixture. Its dynamic feedback and paving compaction effect are closely related to the pavement structure parameters and paving materials. It is necessary to fully consider the influence of equipment and material parameters on paving construction and the reasonable automatic control method of components.

[0005] In the actual construction process of the 3D paving system, the speed of the paver, the structural parameters of the screed plate and the control system parameters are usually fixed values. The movement of the screed plate in the paver disturbs the work of the monitor. The quality of the monitor's measurement data is closely related to the installation position, which in turn affects the response characteristics of the 3D paving control system.

[0006] Based on the applicant's technical briefing document dated October 10, 2024 and the existing technical problems, technical features and technical effects in similar background technologies obtained through retrieval, the technical solution for the application of the present invention was made. III. Summary of the invention

[0007] The object of the present invention is a control model acquisition method of a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material properties.

[0008] The object of the present invention is a control model acquisition system for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material properties.

[0009] The object of the present invention is a controller of a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material properties.

[0010] The object of the present invention is a control method for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material properties.

[0011] In order to overcome the above-mentioned technical shortcomings, the purpose of the present invention is to provide a control model acquisition method and system, controller and control method of a 3D paving automatic leveling model and a monitor installation position optimization method based on the material characteristics of asphalt mixture, thereby quantifying the distribution of energy in reinforced concrete through a systematic calculation method to evaluate the vibration quality of concrete.

[0012] In order to achieve the above object, the technical solution adopted by the present invention is:

[0013] A control model acquisition method for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics, the steps of which are:

[0014] Step 100: Establish the screed dynamics model.

[0015] Step 200: Establish a 3D paving automatic control system model.

[0016] Step 300: Establish a monitoring signal receiver installation location optimization method.

[0017] Due to the design of the above steps, the present invention establishes a screed plate dynamics model, fully considers the interaction between paving materials and the screed plate to clarify the influencing factors of the screed plate dynamics response, and then establishes a 3D paving automatic leveling model to achieve control of the road surface flatness and cross slope. Finally, a method for optimizing the installation position of the monitor is proposed to improve the paving quality. This technical solution provides technical support for the development and reliable operation of high-quality asphalt pavement paving construction equipment.

[0018] The present invention is designed that step 100 specifically includes the following contents:

[0019] In order to analyze the influence of screed plate parameters, pavement material stiffness and damping on the dynamic response of screed plate, the screed plate dynamic model of 3D paving system is simplified as shown in the attached figure. Figure 3 shown.

[0020] Attached Figure 3 In the figure, O is the traction point of the screed arm, A is the front end of the screed, B is the rear end of the screed, O1 is the center of mass of the screed, and D is the installation position of the monitoring signal receiver.

[0021] The paver works stably and the screed is in a balanced state, which is taken as the initial state of the system. When the control box of the 3D paving system detects that the current coordinate value of the screed is lower than the design coordinate value, the hydraulic cylinder of the paver traction arm is lifted upward by H(t), and the screed rotates around point B, and the initial elevation angle increases; the screed floats upward and rotates around point O; when the actual coordinate value of the screed reaches the design coordinate value, the screed remains stable to achieve the control of the pavement thickness.

[0022] When H(t) is a step signal, the screed angle deviates from the equilibrium position. For the force analysis of the screed, two parallel springs and damping are used to equalize the asphalt mixture at the front and rear ends of the screed, and the dynamic model of the floating screed is established, as shown in formula (1):

[0023]

[0024] Where, J is the moment of inertia of the ironing plate around point O; is the elevation angle of the screed plate; F1 is the force of the front mixture on the screed plate; F2 is the force of the rear mixture on the screed plate; r1 is the distance between the front end of the screed plate and point O; r2 is the distance between the rear end of the screed plate and point O; k1, k2 are the stiffness of the asphalt mixture at the front and rear ends of the screed plate; c1, c2 are the damping of the asphalt mixture at the front and rear ends of the screed plate; v is the paving speed,

[0025] During the paving process, the screed elevation angle changes slightly, generally 0° to 5°. The Taylor expansion method is used. Formula (1) can be simplified to formula (2):

[0026]

[0027] make:

[0028]

[0029] but:

[0030]

[0031] We can get:

[0032]

[0033] In the formula, x1, x2 are characteristic roots, C1, C2 are coefficients, is the initial angle,

[0034] Since x2<<x1, the simplified screed dynamic model is formula (5):

[0035]

[0036] The relationship between the pavement layer thickness increment T(t) and the displacement increment H(t) of the boom hinge point O is shown in formula (6):

[0037]

[0038] The transfer function between the pavement layer thickness increment and the displacement increment of the boom hinge point O can be obtained, as shown in formula (7):

[0039]

[0040] The present invention is designed that step 200 specifically includes the following contents:

[0041] The 3D paving automatic control system consists of a monitoring signal transmitter, a signal receiver and a paver control system.

[0042] When the system is working, the signal transmitter is set up on the control point, the signal receiver receives the transmitter signal, obtains the elevation information through processing, and transmits the elevation information to the receiver. The receiver processes the received data in real time to obtain the three-dimensional coordinates of the paver screed plate, and transmits the three-dimensional coordinate data to the control box. The control box compares the current three-dimensional coordinate information with the design data in the control box and generates corresponding elevation correction information; the control box generates a corresponding proportional drive signal based on the elevation correction information, drives the hydraulic cylinder of the paver arm through the hydraulic valve, adjusts the elevation angle of the screed plate, changes the pavement pavement thickness, and realizes the control of the pavement flatness and cross slope.

[0043] Location elevation information Y(t) and design data Y e The deviation ΔH of (t) is shown in formula (8):

[0044] ΔH=Y e (t)-Y(t) (8)

[0045] The control box generates a corresponding proportional current I(t) according to the deviation as shown in equation 9:

[0046] l(t)=k i ΔH (9)

[0047] Where k i is the proportional constant of the control box.

[0048] After the control box output current I(t) is input into the hydraulic valve, the hydraulic valve outputs the corresponding proportion of hydraulic oil flow Q(t), as shown in formula (10):

[0049] Q(t)=k q I(t) (10)

[0050] Where k q is the proportional constant of the hydraulic valve.

[0051] After the hydraulic oil enters the cylinder, it pushes the piston rod to move the boom traction point O. The relationship between the displacement H(t) of the boom traction point O and the hydraulic oil flow Q(t) is shown in formula (11):

[0052]

[0053] Where M is the effective area of ​​the cylinder piston,

[0054] The monitoring signal receiver is installed on the boom, with a horizontal distance L from the boom traction point O. The installation position is shown in Figure 1 From the geometric relationship, the relationship between the elevation increment Y(t) of the laser sensor, the displacement increment H(t) of the boom traction point O, and the actual ply thickness increment T(t) is shown in formula (12):

[0055]

[0056] The structure of the 3D paving automatic control system is shown in the attached figure. Figure 4 As shown,

[0057] Command control system parameters Monitoring signal receiver installation location ratio By the attached Figure 4 The transfer function between the design data and the pavement elevation increment is shown in formula (13):

[0058]

[0059] The present invention is designed that step 300 specifically includes the following contents:

[0060] When the 3D paving system is paving the road surface, the reference benchmark of the monitoring signal receiver is the design value of the road surface elevation, and the deviation of the monitoring signal receiver from the design value is the input of the 3D paving system.

[0061] The flatness of the underlying layer causes the traction point of the screed arm to float up and down, causing the monitoring signal receiver to produce a deviation value. At this time, the input of the 3D paving system is the disturbance of the traction point of the screed arm, which can be simulated by a sine function. The simulation parameters of the paving system are shown in the attached figure. Figure 5 ,

[0062] When the paving flatness requirement is high, the flatness of the lower bearing layer causes the boom traction point O to float up and down, resulting in changes in the paving thickness of the screed plate, affecting the paving flatness of the paving layer. The 3D paving system structure under disturbance input is shown in the attached figure. Figure 6 As shown,

[0063] Since the flatness only considers the change of the amplitude of the paved road surface, when the pavement elevation design value of the 3D paving system is a constant, according to the linear system superposition principle, the amplitude change of the steady-state output of the 3D paving system is only related to the disturbance input of the boom traction point. The transfer function of the system is shown in formula (14):

[0064]

[0065] When the disturbance input at the boom traction point is a sinusoidal function, the attenuation ratio G1 of the 3D paving system to the disturbance input amplitude is as shown in formula (15):

[0066]

[0067] When the paver works stably, the paving speed and the characteristics of the paving material are constant, the relationship between the amplitude ratio of the screed plate output to the disturbance input, the disturbance wavelength, and the installation position of the laser receiver is shown in the attached figure. Figure 7 As shown,

[0068] Define the ideal range as the amplitude ratio less than 1.5%, and then determine the reasonable range of monitoring signal receiver installation position ratio.

[0069] Under the material input parameters, when the installation position ratio of the monitoring signal receiver is less than 0.65, the amplitude of the ironing plate output and the disturbance input is small, the 3D paving system has a better attenuation effect on disturbance inputs of different wavelengths, and the paved road surface has a higher smoothness. When the installation position ratio of the laser receiver is greater than 0.65, the 3D paving system has a poor attenuation effect on disturbance inputs of 1.5 to 4 m wavelengths, the amplitude ratio of the ironing plate output and the disturbance input has a higher peak value, and the smoothness of the formed road surface is lower.

[0070] The present invention designs a control model acquisition system for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics, which includes the following contents:

[0071] Steel screed plate dynamic model building unit 10,

[0072] 3D paving automatic control system model building unit 20,

[0073] A monitoring signal receiver installation location optimization method establishing unit 30.

[0074] The present invention designs a controller for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics, which includes the following contents: a control model of a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics is stored in the controller;

[0075] The control model of the 3D paving automatic leveling model based on the material characteristics of asphalt mixture and the monitor installation position optimization method is obtained according to the control model acquisition method of the 3D paving automatic leveling model based on the material characteristics of asphalt mixture and the monitor installation position optimization method.

[0076] The present invention designs a control method for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics, which includes the following contents:

[0077] A controller based on a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics is used in the CPU for control.

[0078] The technical effect of the present invention is that it is necessary to study the influence of equipment and material parameters on the flatness of the paved road surface and determine appropriate construction parameters to improve the road surface construction quality of the 3D paving system. IV. Description of the drawings

[0079] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0080] Figure 1 A flowchart of a method for obtaining a control model for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics.

[0081] Figure 2 It is a structural schematic diagram of a control model acquisition system of a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics of the present invention,

[0082] Attached Figure 3 is the screed dynamics model,

[0083] Attached Figure 4 It is the structure of 3D paving automatic control system.

[0084] Attached Figure 5 are the simulation parameters of the paving system,

[0085] Attached Figure 6 is the structure of the 3D paving system under disturbance input,

[0086] Attached Figure 7 It is the relationship between the amplitude ratio of the screed plate output to the disturbance input, the disturbance wavelength and the installation position of the laser receiver. V. Specific implementation methods

[0087] According to the Examination Guidelines, terms such as “having”, “including” and “comprising” used in the present invention should be understood as not dispensing with the existence or addition of one or more other elements or combinations thereof.

[0088] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0089] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, it can be indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0090] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0091] The present invention is further described below in conjunction with examples. The following examples are intended to illustrate the present invention rather than to further limit the present invention.

[0092] A control model acquisition method for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics, the steps of which are:

[0093] Step 100: Establish the screed dynamics model.

[0094] Step 200: Establish a 3D paving automatic control system model.

[0095] Step 300: Establish a monitoring signal receiver installation location optimization method.

[0096] The following takes the material characteristics of asphalt mixture as an example to illustrate the specific implementation of the method.

[0097] In this embodiment, step 100 specifically includes the following contents:

[0098] In order to analyze the influence of screed plate parameters, pavement material stiffness and damping on the dynamic response of screed plate, the screed plate dynamic model of 3D paving system is simplified as shown in the attached figure. Figure 3 shown.

[0099] Attached Figure 3 In the figure, O is the traction point of the screed arm, A is the front end of the screed, B is the rear end of the screed, O1 is the center of mass of the screed, and D is the installation position of the monitoring signal receiver.

[0100] The paver works stably and the screed is in a balanced state, which is taken as the initial state of the system. When the control box of the 3D paving system detects that the current coordinate value of the screed is lower than the design coordinate value, the hydraulic cylinder of the paver traction arm is lifted upward by H(t), and the screed rotates around point B, and the initial elevation angle increases; the screed floats upward and rotates around point O; when the actual coordinate value of the screed reaches the design coordinate value, the screed remains stable to achieve the control of the pavement thickness.

[0101] When H(t) is a step signal, the screed angle deviates from the equilibrium position. For the force analysis of the screed, two parallel springs and damping are used to equalize the asphalt mixture at the front and rear ends of the screed, and the dynamic model of the floating screed is established, as shown in formula (1):

[0102]

[0103] Where, J is the moment of inertia of the ironing plate around point O; is the elevation angle of the screed plate; F1 is the force of the front mixture on the screed plate; F2 is the force of the rear mixture on the screed plate; r1 is the distance between the front end of the screed plate and point O; r2 is the distance between the rear end of the screed plate and point O; k1, k2 are the stiffness of the asphalt mixture at the front and rear ends of the screed plate; c1, c2 are the damping of the asphalt mixture at the front and rear ends of the screed plate; v is the paving speed,

[0104] During the paving process, the screed elevation angle changes slightly, generally 0° to 5°. The Taylor expansion method is used. Formula (1) can be simplified to formula (2):

[0105]

[0106] make:

[0107]

[0108]

[0109] but:

[0110]

[0111] We can get:

[0112]

[0113] In the formula, x1, x2 are characteristic roots, C1, C2 are coefficients, is the initial angle,

[0114] Since x2<<x1, the simplified screed dynamic model is formula (5):

[0115]

[0116] The relationship between the pavement layer thickness increment T(t) and the displacement increment H(t) of the boom hinge point O is shown in formula (6):

[0117]

[0118] The transfer function between the pavement layer thickness increment and the displacement increment of the boom hinge point O can be obtained, as shown in formula (7):

[0119]

[0120] In this embodiment, step 200 specifically includes the following contents:

[0121] The 3D paving automatic control system consists of a monitoring signal transmitter, a signal receiver and a paver control system.

[0122] When the system is working, the signal transmitter is set up on the control point, the signal receiver receives the transmitter signal, obtains the elevation information through processing, and transmits the elevation information to the receiver. The receiver processes the received data in real time to obtain the three-dimensional coordinates of the paver screed plate, and transmits the three-dimensional coordinate data to the control box. The control box compares the current three-dimensional coordinate information with the design data in the control box and generates corresponding elevation correction information; the control box generates a corresponding proportional drive signal based on the elevation correction information, drives the hydraulic cylinder of the paver arm through the hydraulic valve, adjusts the elevation angle of the screed plate, changes the pavement pavement thickness, and realizes the control of the pavement flatness and cross slope.

[0123] Location elevation information Y(t) and design data Y e The deviation ΔH of (t) is shown in formula (8):

[0124] ΔH=Y e (t)-Y(t) (8)

[0125] The control box generates a corresponding proportional current I(t) according to the deviation as shown in equation 9:

[0126] I(t)=k i ΔH (9)

[0127] Where k i is the proportional constant of the control box.

[0128] After the control box output current I(t) is input into the hydraulic valve, the hydraulic valve outputs the corresponding proportion of hydraulic oil flow Q(t), as shown in formula (10):

[0129] Q(t)=k q I(t) (10)

[0130] Where k q is the proportional constant of the hydraulic valve.

[0131] After the hydraulic oil enters the cylinder, it pushes the piston rod to move the boom traction point O. The relationship between the displacement H(t) of the boom traction point O and the hydraulic oil flow Q(t) is shown in formula (11):

[0132]

[0133] Where M is the effective area of ​​the cylinder piston,

[0134] The monitoring signal receiver is installed on the boom, with a horizontal distance L from the boom traction point O. The installation position is shown in Figure 1 From the geometric relationship, the relationship between the elevation increment Y(t) of the laser sensor, the displacement increment H(t) of the boom traction point O, and the actual ply thickness increment T(t) is shown in formula (12):

[0135]

[0136] The structure of the 3D paving automatic control system is shown in the attached figure. Figure 4 As shown,

[0137] Command control system parameters Monitoring signal receiver installation location ratio By the attached Figure 4 The transfer function between the design data and the pavement layer elevation increment is shown in formula (13):

[0138]

[0139] In this embodiment, step 300 specifically includes the following contents:

[0140] When the 3D paving system is paving the road surface, the reference benchmark of the monitoring signal receiver is the design value of the road surface elevation, and the deviation of the monitoring signal receiver from the design value is the input of the 3D paving system.

[0141] The flatness of the underlying layer causes the traction point of the screed arm to float up and down, causing the monitoring signal receiver to produce a deviation value. At this time, the input of the 3D paving system is the disturbance of the traction point of the screed arm, which can be simulated by a sine function. The simulation parameters of the paving system are shown in the attached figure. Figure 5 ,

[0142] When the paving flatness requirement is high, the flatness of the lower bearing layer causes the boom traction point O to float up and down, resulting in changes in the paving thickness of the screed plate, affecting the paving flatness of the paving layer. The 3D paving system structure under disturbance input is shown in the attached figure. Figure 6 As shown,

[0143] Since the flatness only considers the change of the amplitude of the paved road surface, when the pavement elevation design value of the 3D paving system is a constant, according to the linear system superposition principle, the amplitude change of the steady-state output of the 3D paving system is only related to the disturbance input of the boom traction point. The transfer function of the system is shown in formula (14):

[0144]

[0145] When the disturbance input at the boom traction point is a sinusoidal function, the attenuation ratio G1 of the 3D paving system to the disturbance input amplitude is as shown in formula (15):

[0146]

[0147] When the paver works stably, the paving speed and the characteristics of the paving material are constant, the relationship between the amplitude ratio of the screed plate output to the disturbance input, the disturbance wavelength, and the installation position of the laser receiver is shown in the attached figure. Figure 7 As shown,

[0148] Define the ideal range as the amplitude ratio less than 1.5%, and then determine the reasonable range of monitoring signal receiver installation position ratio.

[0149] Under the material input parameters, when the installation position ratio of the monitoring signal receiver is less than 0.65, the amplitude of the ironing plate output and the disturbance input is small, the 3D paving system has a better attenuation effect on disturbance inputs of different wavelengths, and the paved road surface has a higher smoothness. When the installation position ratio of the laser receiver is greater than 0.65, the 3D paving system has a poor attenuation effect on disturbance inputs of 1.5 to 4 m wavelengths, the amplitude ratio of the ironing plate output and the disturbance input has a higher peak value, and the smoothness of the formed road surface is lower.

[0150] A control model acquisition system for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics, including the following contents:

[0151] Steel screed plate dynamic model building unit 10,

[0152] 3D paving automatic control system model building unit 20,

[0153] A monitoring signal receiver installation location optimization method establishing unit 30.

[0154] A controller for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics, comprising the following contents: a control model of a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics is stored in the controller;

[0155] In this embodiment, the control model of the 3D paving automatic leveling model based on the material characteristics of the asphalt mixture and the monitoring installation position optimization method is obtained according to the control model acquisition method of the 3D paving automatic leveling model based on the material characteristics of the asphalt mixture and the monitoring installation position optimization method.

[0156] Step 100: Establish the screed dynamics model.

[0157] Step 200: Establish a 3D paving automatic control system model.

[0158] Step 300: Establish a monitoring signal receiver installation location optimization method.

[0159] A control method for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics includes the following contents:

[0160] A controller based on a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics is used in the CPU for control.

[0161] When verifying the present invention, we first proposed technical features based on the technical features based on the material properties of asphalt mixture, and obtained the first unexpected technical effect: a dynamic system was established for the ironing plate, and the important components of the pavement construction of the 3D paving system were used as the basis of the technical solution, and the second unexpected technical effect was obtained: a system for automatic control of 3D paving was established, and a monitoring element system for the pavement construction of the 3D paving system was realized, and the third unexpected technical effect was obtained: an optimization system was established for the installation position of the monitoring signal receiver, and the monitoring element was installed in the optimal position, and the fourth unexpected technical effect was obtained: data support for the improved technical solution was provided for the pavement construction device of the 3D paving system, and the construction efficiency of the pavement construction device of the 3D paving system was improved, and the fifth unexpected technical effect was obtained: the pavement construction parameters were mathematically integrated with the material properties of the asphalt mixture, so that the 3D paving was in the best working state and the pavement paving effect was improved.

[0162] The above embodiment is only one implementation form of the control model acquisition method and system, controller and control method of the 3D paving automatic leveling model and monitor installation position optimization method based on the material characteristics of asphalt mixture provided by the present invention. Other variations of the scheme provided by the present invention, adding or reducing components or steps therein, or using the present invention in other technical fields close to the present invention, all fall within the scope of protection of the present invention.

Claims

1. A control model acquisition method for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics, characterized in that the steps are: Step 100: Establish the screed dynamics model. Step 200: Establish a 3D paving automatic control system model. Step 300: Establish a monitoring signal receiver installation location optimization method.

2. The control model acquisition method of the 3D paving automatic leveling model and the monitor installation position optimization method based on asphalt mixture material characteristics according to claim 1 is characterized by: Step 100 specifically includes the following contents: In order to analyze the influence of screed plate parameters, pavement material stiffness and damping on the dynamic response of screed plate, the screed plate dynamic model of 3D paving system is simplified and established as shown in Figure 3. In Figure 3, O is the traction point of the screed arm, A is the front end of the screed, B is the rear end of the screed, O1 is the center of mass of the screed, and D is the installation position of the monitoring signal receiver. The paver works stably and the screed is in a balanced state, which is taken as the initial state of the system. When the control box of the 3D paving system detects that the current coordinate value of the screed is lower than the design coordinate value, the hydraulic cylinder of the paver traction arm is lifted upward by H(t), and the screed rotates around point B, and the initial elevation angle increases; the screed floats upward and rotates around point O; when the actual coordinate value of the screed reaches the design coordinate value, the screed remains stable to achieve the control of the pavement thickness. When H(t) is a step signal, the screed angle deviates from the equilibrium position. For the force analysis of the screed, two parallel springs and damping are used to equalize the asphalt mixture at the front and rear ends of the screed, and the dynamic model of the floating screed is established, as shown in formula (1): Where, J is the moment of inertia of the ironing plate around point O; is the elevation angle of the screed plate; F1 is the force of the front mixture on the screed plate; F2 is the force of the rear mixture on the screed plate; r1 is the distance between the front end of the screed plate and point O; r2 is the distance between the rear end of the screed plate and point O; k1, k2 are the stiffness of the asphalt mixture at the front and rear ends of the screed plate; c1, c2 are the damping of the asphalt mixture at the front and rear ends of the screed plate; v is the paving speed, During the paving process, the screed elevation angle changes slightly, generally 0° to 5°. Using the Taylor expansion method, Formula (1) can be simplified to formula (2): make: but: We can get: In the formula, x1, x2 are characteristic roots, C1, C2 are coefficients, is the initial angle, Since x2<<x1, the simplified screed dynamic model is formula (5): The relationship between the pavement layer thickness increment T(t) and the displacement increment H(t) of the boom hinge point O is shown in formula (6): The transfer function between the pavement layer thickness increment and the displacement increment of the boom hinge point O can be obtained as shown in formula (7):

3. The control model acquisition method of the 3D paving automatic leveling model and the monitor installation position optimization method based on asphalt mixture material characteristics according to claim 2 is characterized by: Step 200 specifically includes the following contents: The 3D paving automatic control system consists of a monitoring signal transmitter, a signal receiver and a paver control system. When the system is working, the signal transmitter is set up on the control point, the signal receiver receives the transmitter signal, obtains the elevation information through processing, and transmits the elevation information to the receiver. The receiver processes the received data in real time to obtain the three-dimensional coordinates of the paving machine screed plate, and transmits the three-dimensional coordinate data to the control box. The control box compares the current three-dimensional coordinate information with the design data in the control box and generates corresponding elevation correction information; The control box generates a corresponding proportional drive signal based on the elevation correction information, drives the hydraulic cylinder of the paver arm through the hydraulic valve, adjusts the elevation angle of the screed plate, changes the pavement layer thickness, and realizes the control of the road surface flatness and cross slope. Location elevation information Y(t) and design data Y e The deviation ΔH of (t) is shown in formula (8): ΔH=Y e (t)-Y(t) (8) The control box generates a corresponding proportional current I(t) according to the deviation as shown in equation 9: I(t)=k i ΔH (9) Where k i is the proportional constant of the control box. After the control box output current I(t) is input into the hydraulic valve, the hydraulic valve outputs the corresponding proportion of hydraulic oil flow Q(t), as shown in formula (10): Q(t)=k q I(t) (10) Where k q is the proportional constant of the hydraulic valve. After the hydraulic oil enters the cylinder, it pushes the piston rod to move the boom traction point O. The relationship between the displacement H(t) of the boom traction point O and the hydraulic oil flow Q(t) is shown in formula (11): Where M is the effective area of ​​the cylinder piston, The monitoring signal receiver is installed on the boom, with a horizontal distance L from the boom traction point O. The installation position is shown in Figure 1. From the geometric relationship, the relationship between the elevation increment Y(t) of the laser sensor, the displacement increment H(t) of the boom traction point O, and the actual ply thickness increment T(t) can be obtained as shown in formula (12): The structure of the 3D paving automatic control system is shown in Figure 4. Command control system parameters Monitoring signal receiver installation location ratio From Figure 4, the transfer function between the design data and the pavement layer elevation increment is shown in formula (13):

4. The control model acquisition method of the 3D paving automatic leveling model and the monitor installation position optimization method based on asphalt mixture material characteristics according to claim 1 is characterized by: Step 300 specifically includes the following contents: When the 3D paving system is paving the road surface, the reference benchmark of the monitoring signal receiver is the design value of the road surface elevation, and the deviation of the monitoring signal receiver from the design value is the input of the 3D paving system. The flatness of the underlying layer causes the traction point of the screed arm to float up and down, causing the monitoring signal receiver to produce a deviation value. At this time, the input of the 3D paving system is the disturbance of the traction point of the screed arm, which can be simulated by a sine function. The simulation parameters of the paving system are shown in Figure 5. When the paving flatness requirement is high, the flatness of the underlying layer causes the boom traction point O to float up and down, resulting in changes in the paving thickness of the screed plate, affecting the paving flatness of the paving layer. The structure of the 3D paving system under disturbance input is shown in Figure 6. Since the flatness only considers the change of the amplitude of the paved road surface, when the pavement elevation design value of the 3D paving system is a constant, according to the linear system superposition principle, the amplitude change of the steady-state output of the 3D paving system is only related to the disturbance input of the boom traction point. The transfer function of the system is shown in formula (14): When the disturbance input at the boom traction point is a sinusoidal function, the attenuation ratio G1 of the 3D paving system to the disturbance input amplitude is as shown in formula (15): When the paver works stably, the paving speed and the characteristics of the paving material are constant, the relationship between the amplitude ratio of the screed plate output to the disturbance input, the disturbance wavelength, and the installation position of the laser receiver is shown in Figure 7. Define the ideal range as the amplitude ratio less than 1.5%, and then determine the reasonable range of monitoring signal receiver installation position ratio. Under the material input parameters, when the installation position ratio of the monitoring signal receiver is less than 0.65, the amplitude of the ironing plate output and the disturbance input is small, the 3D paving system has a better attenuation effect on disturbance inputs of different wavelengths, and the paved road surface has a higher smoothness. When the installation position ratio of the laser receiver is greater than 0.65, the 3D paving system has a poor attenuation effect on disturbance inputs of 1.5 to 4 m wavelengths, the amplitude ratio of the ironing plate output and the disturbance input has a higher peak value, and the smoothness of the formed road surface is lower.

5. A control model acquisition system for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics, characterized by: Contains the following content: Steel screed plate dynamic model building unit 10, 3D paving automatic control system model building unit 20, A monitoring signal receiver installation location optimization method establishing unit 30.

6. A controller for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material properties, characterized by: The following contents are included: a 3D paving automatic leveling model based on the material characteristics of asphalt mixture and a control model for the optimization method of the monitor installation position are stored in the controller. The control model of the 3D paving automatic leveling model based on the material characteristics of asphalt mixture and the monitor installation position optimization method is obtained according to the control model acquisition method of the 3D paving automatic leveling model based on the material characteristics of asphalt mixture and the monitor installation position optimization method.

7. A control method for a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material properties, characterized by: Contains the following content: A controller based on a 3D paving automatic leveling model and a monitor installation position optimization method based on asphalt mixture material characteristics is used in the CPU for control.

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