Research On The Walking System Of Paver Based On Fuzzy Adaptive PID Control

With the development of China’s transportation industry, the construction of the road surface, especially the construction of the highway, puts forward higher requirements, which requires the construction machinery of the road construction machinery to further improve the quality of the work. As one of the important equipment of pavement construction, the technical level of asphalt paver is more and more concerned by people. Since the 1980’s, technical level of construction machinery and manufacturing capacity has been rapid development by introduction, digestion and absorption of foreign technology, but the core part of the research is still lags behind the advanced level, which greatly limits the development of our paver technology. Pavement evenness, compactness, intensity of segregation, as the quality indicator of road construction, have close relationship to stability of the walking speed of the paver. So it is significant to study the driving system of the paving machine, which is of great significance to improve the quality of the paving machine.First of all, this article detailed analysis the existing technology of the paver driving system at home and abroad. The kinematics and dynamics analysis of the spreading machine is made by using the traditional theory method, and the velocity characteristic equation is established. Meanwhile, the factors affecting the stability of the walking speed of the paver are analyzed and summarized. This will help us to establish a more perfect control algorithm. By understanding the driving system architecture, the mathematical model of each link is established on the basis of the theory of the force balance equation and the flow continuity equation.Secondly, a fuzzy adaptive PID control algorithm is proposed. By comparing with the conventional PID control algorithm in their respective features and applicable scope, the feasibility of the theory is confirmed. The various components of the fuzzy adaptive PID controller are discussed in detail, and a fuzzy adaptive PID controller is designed for the prototype. On the basis of this, the structure block diagram of the PID controller with fuzzy adaptive system is given.Finally, the simulation model of asphalt paver driving system with fuzzy adaptive PID controller is built by using the Matlab/Simulink software. The control system of conventional PID control algorithm and fuzzy adaptive PID control algorithm is simulated and analyzed respectively. Simulation results show that the proposed fuzzy adaptive PID control algorithm significantly improves the system dynamic performance and steady-state accuracy, the overshoot is reduced from 29.54% to 10.51%, and the adjusting time is reduced from 3.3s to 1.8s. That is, the paver driving system based on fuzzy adaptive PID control algorithm, have a stronger ability to adapt parameters, robustness and anti-interference ability.