Research On Automatic Driving In Tunnel Of The Transpoted Bridge Erecting Machine

The transported bridge erecting machine is a new type of railway bridge equipment with the function of lifting bridge,transporting bridge and erecting bridge,which can not only transport the bridge through the tunnel,but also can erect bridge closing to the tunnel mouth and even inside the tunnel with the same operation procedure.Aiming at the special working condition of the bridge through the tunnel,this paper develops a kind of automatic driving technology in the tunnel to ensure that there is a certain safety distance between the bridge and the tunnel wall when the bridge is transported through the tunnel.Firstly,by analyzing the basic structure and the work process flow of the machine,the main problems of the machine under the condition of transporting bridge through the tunnel are deeply researched,and the control strategy of the automatic driving system in the tunnel is designed.Secondly,cruise control is designed to satisfy the requirements of control system.The traditional PID control algorithm is adopted for closed hydraulic system.The variable speed process is mainly controlled by the variable pump,and the variable motor is supplemented.The control algorithm is verified by simulation.Thirdly,in order to meet the requirements of control system,the fuzzy PID control algorithm is adopted for the synchronization between the wheel groups in the steering process.The mathematical model of value control cylinder is established,and the feasibility of the control method is verified by simulation.Finally,the hardware and software of the automatic driving system are designed and the experimental study is conducted in the tunnel.The experimental results show that in the automatic driving mode,the machine can pass through the tunnel smoothly,in the meantime,the safety and efficiency of work is improved.