| Due to its advantages of flexibility,high operation efficiency and low transfer costs,wheeled asphalt paver is widely used in road construction and maintenance operation in recent years.Control techniques can improve the operating performance,reduce the driver's work intensity,decrease the skill requirements for the staffs,and achieve the best match between the power system and the drive system.Therefore,the research and development of key control techniques is of great significance to enhance the overall performance of wheeled paver.The traveling control system of 9m wheeled asphalt paver is studied in this paper.Based on the analyses of the working principle of the front and rear traveling hydraulic driving system,the functional requirements of the traveling control system are proposed and the scheme of the traveling control system is determined.The control methods of mode shifting,direction and speed changing are studied.The anti-slip control method of the rear driving wheels based on the difference of the rotational speed and the inlet port pressure between the left and right driving motor is studied,and the conditions of the automatic anti-slip control on and off are analyzed emphatically.The control method of front driving wheel is studied,and driving force of the front wheel is controlled by the rear driving wheel slip rate and the hydraulic oil flow of the front driving wheel motor is matched by the rotational speed of the rear driving wheel motor.By closed-loop control with fuzzy PID algorithm in main driving system of rear wheel,constant speed control of the paver is realized.Finally,according to the target requirements of the control system,the hardware composition scheme of the control system is given,the software flow chart of each control function is designed,and the corresponding control program is developed in the PROSYD1131 development environment. |
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