Research On DSP-Based Tracked Paver Control System For Travel Drive

Traveling controller, which adjusts the constant traveling speed for left and right tracks of paver, is one of the important devices of asphalt paver and its function will directly affect the quality of asphalt paver and paving work. The goal of this thesis is to design the traveling controller of the paver and apply it for constant traveling speed control based on DSP technology and fuzzy PID control theory.The thesis firstly introduces the history, status quo and development tendency of the traveling control of the asphalt paver, and as well as the features of DSP technology. Then in the following two chapters, firstly the software and hardware on TMS320F281x DSP are instructed, then the hardware and software design on asphalt paver traveling controller system based on TMS320F281x are discussed in details. The detailed discussion of the hardware includes the minimum DSP system, serial port communication circuit, drive circuit, RTC circuit, LCD display circuit, D/A transfer circuit, I/O circuit and the circuit connected with PC. The detailed discussion of software includes the development environment and the basic flow of the software developing, the given flow diagram of system program, and Bootloader sub-program, QEP sub-program, PWM output sub-program, control quantity setting sub-program, LCD display sub-program and the code of some of them.Following the presentation in the previous chapters, the fuzzy self-adjust PID control strategy is then brought forward through application of the mathematical model on hydraulic system of the paver combined with the fuzzy control theory and simulated in the MATLAB software. The validity of the fuzzy self-adjust PID control strategy is proved by the result of the simulation. The fuzzy self-adjust PID control strategy combines the fuzzy reasoning with traditional PID control and enable traveling controller of the asphalt paver to work better.Finally, the problems and solutions in the process of debugging of the hardware and software are summarized and the shortcomings and problems are pointed out, towards which more attention will be paid in future research.