Research On Driving Control System Of Caterpillar Paver

The asphalt paver is a construction equipment used in road paving operations, used to mix the good mixture （including asphalt concrete and grass-roots stabilized soil） in accordance with a certain width, thickness, flatness and density pave on the road base. The paver is divided into two types of crawler and wheel according to the driving-driven approach, currently crawler paver occupy the market mainstream. With the improvement of road construction the quality of paver paving will also improve, paver driving a straight line and constant speed are two key factors to ensure the quality of paving operations. In this paver, MT12000crawler paver which is produced by Meishan XinZhu company is used for the study, the corresponding solutions for the poor straight-line driving wandering and constant speed performance have been provided.First, the paper analyses the paver drive system works, establishes paver travel system measurement and control platform, uses CAN232MB intelligent protocol converters and Visual C++realize data online transfer and speed curve shows. Secondly, the program of the paver travel system control is completed based on Intercontrol compact E hardware platform and PROSYD₁131software development environment. Thirdly, the paper researches and analyses a variety of reasons which result in the paver straight-line driving wandering, such as the left/right track start synchronicity, process impact, driving wheel of the effective wheel diameter consistency impact the straightness. According to different reasons calibration started current, setting value of the ramp output and external correction are putted forward in this paper. Finally, paver driving constant speed performance is studied, the setpoint filter and fuzzy PID control are adopted to achieve constant speed control of the paver, the feasibility is verified by Matlab/simulink simulation.The field test results show that, this paper presents the straightness of the solution to a very good solution to the paver straight-line driving wandering, the actual offset of the straight-line driving is controlled within0.5%, better than the GB demand that straight-line driving wandering is not more than1%. Constant speed control can be used during normal paving conditions to meet the requirements of fluctuations of less than5%, but for severe interference suppression needs further research to solve.