CN111625008A - Method for adjusting motion path of vibratory roller and control system - Google Patents
Method for adjusting motion path of vibratory roller and control system Download PDFInfo
- Publication number
- CN111625008A CN111625008A CN202010713377.7A CN202010713377A CN111625008A CN 111625008 A CN111625008 A CN 111625008A CN 202010713377 A CN202010713377 A CN 202010713377A CN 111625008 A CN111625008 A CN 111625008A
- Authority
- CN
- China
- Prior art keywords
- vibratory roller
- vehicle body
- roller
- angle
- adjusting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 30
- 229910000831 Steel Inorganic materials 0.000 claims description 50
- 239000010959 steel Substances 0.000 claims description 50
- 239000010720 hydraulic oil Substances 0.000 claims description 17
- 239000003921 oil Substances 0.000 claims description 16
- 230000008859 change Effects 0.000 claims description 12
- 238000013016 damping Methods 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000004422 calculation algorithm Methods 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000000052 comparative effect Effects 0.000 claims description 3
- 238000013178 mathematical model Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 2
- 230000003750 conditioning effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 9
- 230000001105 regulatory effect Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 6
- 238000013139 quantization Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000005056 compaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000001808 coupling effect Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000012850 discrimination method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a method for adjusting a motion path of a road roller, which is characterized by comprising the following steps of: planning and setting a straight track; determining the tracking error between the road roller and the track of a set straight line and calculating the expected body rotation angle variation according to the tracking error
Calculating the expected vehicle body turning angle variation
And the angle deviation of the real-time angle variation of the vehicle body
The invention provides a method for adjusting the motion path of a road roller, which realizes the control of vibration error by adjusting the rotation angle of the body of the road roller through a steering system, and adopts the vibration pressure of the method under the condition of larger initial transverse errorThe control performance of the road machine is better, and the control error of the road machine has smaller overshoot and shorter corresponding time. The invention also provides a control system for the movement of the vibratory roller.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a method for adjusting a motion path of a vibratory roller and a control system.
Background
Vibratory rollers are highly efficient compaction machines and are widely used in the construction of roads and dams.
The front vibration steel wheel part of the vibratory roller is connected with the rear driving vehicle body through a central pin shaft. The vibrating wheel is used as both working wheel and walking wheel, is one of the important parts of vibrating road roller, and consists of mainly 4 parts, including vibrating steel wheel, vibration exciting mechanism, vibration damping system, walking mechanism, etc.
In order to meet the compaction working requirement of the vibratory roller in the construction operation process, an exciting mechanism of the vibratory roller generates violent vibration, so that operators can feel uncomfortable, the operation cost of the vibratory roller is reduced and the working efficiency of the vibratory roller is improved in order to avoid the influence of the vibration on operators of the vibratory roller, and a regulation method and a control system for the motion path of the vibratory roller are necessary to be designed, so that the vibration rolling error generated in the operation process of the vibratory roller is reduced.
Disclosure of Invention
In view of the above-mentioned drawbacks, the present invention provides a method for adjusting a motion path of a vibratory roller and a control system thereof, so as to solve the problem of large vibration error generated during the operation of the vibratory roller in the prior art.
The invention provides a method for adjusting a movement path of a road roller, which is characterized by comprising the following steps:
Wherein: (x, y) is the actual distance position coordinate of the center of the vibration steel wheel of the road roller; theta is the actual course angle of the vibrating steel wheel; (x)d，yd) Setting a center expected coordinate of the vibrating steel wheel corresponding to the current coordinate of the center of the vibrating steel wheel on a straight line track; thetadCalculating the expected vehicle body corner variation according to the tracking error for the expected course angle of the vibrating steel wheel
Wherein k issTo representAdjustment coefficient, eθIndicating a heading error, elRepresents lateral error, l represents pre-aiming distance, and elOne-to-one correspondence is realized;
Specifically, the step 2 includes:
step 2.1, calculating a transverse error e according to the coordinates of the current position of the center of the vibrating steel wheel and the coordinates of a corresponding expected point of the center of the vibrating steel wheel on the track of the set straight linel；
Step 2.2: according to the transverse error elAnd obtaining the course required by the road roller by the corresponding pre-aiming distance l at the corresponding speed, comparing the current course of the road roller with the course required by the road roller to obtain a course error eθ；
Step 2.3: according to course error eθCalculating the expected vehicle body corner variation
Step 2.4, constructing the whole motion model of the road roller
Wherein v is the speed of the vibrating steel wheel, and ω is the course angular velocity of the vibrating steel wheel
Indicating the angle of rotation of the vehicle body, l indicating the vibrating steel wheel and driving the center of the vehicle body toThe distance of the intersection points, theta, represents the heading of the oscillating steel wheel, and (x.y) represents the coordinates of the center of the oscillating steel wheel.
Specifically, the step 3 includes:
step 3.1, constructing a mathematical model of the steering system and determining a transfer function of the steering system
Wherein
Is a proportional factor, omega, between the angle of rotation of the vehicle body and the output displacement of the oil cylinderhWhich is the natural frequency of the hydraulic power steering system,
s is a laplace variable;sin order to obtain the damping coefficient of the system,
Kqthe flow gain of the proportional speed control valve, I is the electromagnet input control current of the proportional speed control valve, CtpIs the total leakage coefficient, V, of an equivalent hydraulic oil cylindereIs the total volume of the equivalent hydraulic cylinder cavity, E is the volume elastic modulus of oil, ApIs the action area of an equivalent hydraulic oil cylinder;
step 3.2, obtaining the angle deviation through calculation
3.3, controlling the adjustment of the body corner of the road roller by the steering system to achieve the expected body output corner;
and 3.4, adjusting the driving course and the position coordinates of the road roller by the vehicle body output corner passing through the whole motion model of the road roller.
Specifically, the control mode of the steering system in the step 3 comprises fuzzy PID control;
according to angular deviation in the fuzzy PID control
Rate of change of
And the operation experience of the driver, and the adjustment quantity delta k of the comparative example adjustment parameter is establishedpIntegral adjustment parameter adjustment quantity delta kiAnd a differential tuning parameter adjustment Δ kdThe fuzzy control rule of (1).
Specifically, the running speed of the road roller is controlled by adopting a PID algorithm.
The invention also provides a control system for the movement of the road roller. The steering system is used for adjusting the steering direction of the vehicle body of the road roller;
the steering system includes:
the positioning assembly is arranged on the road roller main body and used for detecting the current position of the center of the vibrating steel wheel;
the orientation assembly is arranged on the road roller main body and used for detecting the current course of the road roller;
the angle encoder is arranged on the road roller main body and used for detecting the variable quantity of the angle of the road roller body in real time;
and the steering controller is electrically connected with the positioning assembly, the orientation assembly and the angle encoder and is used for receiving and processing electric signals sent by the positioning assembly, the orientation assembly and the angle encoder and adjusting the body rotation angle of the road roller.
Preferably, the controller includes a controller for controlling the angular deviation
And angular deviation
Rate of change of
As fuzzy input quantity to control PID adjustment quantity delta k of currentp、ΔkiAnd Δ kdA fuzzy PID controller as fuzzy output quantity.
Preferably, the controller includes a controller for controlling the angular deviation
And angular deviation
Rate of change of
As fuzzy input quantity to control PID adjustment quantity delta k of currentp、ΔkiAnd Δ kdA fuzzy PID controller as fuzzy output quantity.
Preferably. The control system also comprises a running control system for controlling the running direction and speed of the road roller;
the travel control system includes:
the navigator is arranged on the road roller main body and used for acquiring and outputting the real-time speed of the road roller main body and the deviation from the set speed;
and the running controller is electrically connected with the navigator and the road roller main body and is used for adjusting the running speed or/and the running direction of the road roller main body.
According to the scheme, compared with the prior art, the method for adjusting the motion path of the vibratory roller and the control system thereof provided by the invention have the advantages that the control on the vibration error is realized through the adjusting method provided by the invention, the control performance of the vibratory roller adopting the method is better under the condition of larger initial transverse error, and the control error has smaller overshoot and shorter corresponding time. The steering system consisting of the steering controller, the orientation component, the positioning component and the angle encoder can quickly and accurately complete the adjustment of the direction of the vibratory roller in the rolling process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of a vibratory roller for use in the present invention;
FIG. 2 is a schematic diagram of the relationship between the output displacement of the cylinder and the rotation angle of the vehicle body of a vibratory roller used in the present invention;
FIG. 3 is a diagram illustrating the shape of an input variable membership function according to an embodiment of the present invention;
FIG. 4 is a diagram of scaling parameters in an embodiment of the present inventionpA fuzzy control rule schematic diagram of the adjustment quantity;
FIG. 5 is a graph of integral adjustment parameters in an embodiment of the present inventioniA fuzzy control rule schematic diagram of the adjustment quantity;
FIG. 6 shows differential tuning parameters in an embodiment of the present inventiondA fuzzy control rule schematic diagram of the adjustment quantity;
fig. 7 is a first flowchart of a method for adjusting a movement path of a vibratory roller according to an embodiment of the present invention;
fig. 8 is a second flowchart of a method for adjusting a movement path of a vibratory roller according to an embodiment of the present invention;
fig. 9 is a third flowchart of a method for adjusting a movement path of a vibratory roller according to an embodiment of the present disclosure;
fig. 10 is a fourth flowchart of a method for adjusting a path of a vibratory roller according to an embodiment of the present disclosure;
fig. 11 is a flow chart diagram of a fifth method of adjusting a path of a vibratory roller according to an embodiment of the present disclosure;
fig. 12 is a block diagram of a drive control system for a control system of a vibratory roller according to an embodiment of the present invention;
fig. 13 is a structural frame diagram of a steering system for a control system of a vibratory roller;
in the figure: 1. a positioning assembly; 2. an orientation assembly; 3. an angle encoder; 4. a steering controller; 5. a position data acquisition instrument; 6. a running controller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 13 together, a method for adjusting a movement path of a vibratory roller according to the present invention will now be described. The method for adjusting the motion path of the vibratory roller comprises the following steps:
s1, planning and tracking a straight line track;
specifically, the trajectory of the tracking straight line is defined by the coordinates (x) of the starting points，ys) And endpoint coordinate (x)e，ye) Determined, the expression is:
(ye-ys)x+(xs-xe)y+xeys-xsye＝0 (9)
s2, determining the tracking error between the road roller and the track of the tracking straight line
Wherein: (x, y) is the actual distance position coordinate of the center of the vibration steel wheel of the road roller; theta is the actual course angle of the vibrating steel wheel; (x)d，yd) The center expected coordinate of the vibrating steel wheel corresponding to the current coordinate of the center of the vibrating steel wheel on the tracking straight-line track is obtained; thetadCalculating the expected vehicle body corner variation according to the tracking error for the expected course angle of the vibrating steel wheel
Wherein k issDenotes the adjustment coefficient, eθIndicating a heading error, elRepresents lateral error, l represents pre-aiming distance, and elOne-to-one correspondence is realized;
specifically, the S2 includes:
s2.1, constructing the integral motion model of the road roller
Wherein v is the speed of the vibrating steel wheel, and ω is the course angular velocity of the vibrating steel wheel
The angle of the vehicle body is shown, l is the distance between the center of the vibrating steel wheel and the driving vehicle body and the intersection point, theta is the heading of the vibrating steel wheel, and (x, y) is the coordinate of the center of the vibrating steel wheel.
Specifically, the S2.1 includes:
s2.1.1, constructing a vector
The method is used for determining the position and the heading of the vibratory roller.
Wherein (x)1，y1) Coordinates representing the center of the vibrating steel wheel, (x)2，y2) Coordinates, theta, representing the center of the driven vehicle body1And theta2Respectively representing the course of the vibrating steel wheel and the course of the driving wheel;
to representThe corner between the center of the driving vehicle body and the center of the vibrating steel wheel, and l represents the distance from the center of the vibrating steel wheel or the driving vehicle body to the hinge point.
In formula (1), the distance from the vibrating steel wheel to the hinge point is equal to the distance from the center of the driving vehicle body to the hinge point, and is denoted by l. Constructed vector qTAnd selecting the center of the vibrating steel wheel as a reference point. The position and the course of the center of the driving vehicle body can pass through the position and the course of the center of the vibrating steel wheel and combine the rotation angle between the two
Thus obtaining the product.
S2.1.2, set perpendicular to v1And v2The velocity of the direction is zero, the formula is obtained
It should be noted that the roller is longitudinally symmetrical in structure, and the tyre and steel wheel are point-contact with the ground, and at the same time, the movement of the roller is simplified into planar movement and no lateral and longitudinal slippage exists. Thus, perpendicular v1And v2The velocity of the direction is zero.
S2.1.3, obtaining the overall motion model of the road roller by combining the formula (1) and the formula (2), and expressing the model in the form of formula (3).
S2.2, calculating a transverse error e according to the coordinates of the current position of the center of the vibrating steel wheel and the coordinates of a corresponding expected point of the center of the vibrating steel wheel on the track of the tracking straight linel；
S2.3: according to the transverse error elAnd obtaining the course required by the road roller by the corresponding pre-aiming distance l at the corresponding speed, comparing the current course of the road roller with the course required by the road roller to obtain a course error eθ；
S2.4: according to course error eθCalculating the expected vehicle body corner variation
Note that the adjustment coefficient k issSelecting according to Lyapunov stability discrimination method, and selecting proper regulating coefficient ksCan make course error eθTransverse error elAnd the corner error tends to zero.
It should be noted that the tracking error of the road roller to the specified straight line is mainly determined by the heading error eθTransverse error elAnd rotation angle error
And (4) determining. Course error e in actual linear trackingθAnd the error of the rotation angle
And (3) obtaining a road roller overall model according to the formula (3) and linearizing the road roller overall model to obtain a linear tracking error linearized equation of state of the vibratory roller, wherein the linear tracking error linearized equation of state is as follows:
s3, calculating the expected vehicle body turning angle variation
And the angle deviation of the real-time angle variation of the vehicle body
And adjusting the rotation angle of the vehicle body of the road roller through a steering system.
Specifically, the S3 includes:
s3.1, constructing a mathematical model of the steering system and determining a transfer function of the steering system
Wherein
Is a proportional factor, omega, between the angle of rotation of the vehicle body and the output displacement of the oil cylinderhWhich is the natural frequency of the hydraulic power steering system,
s is a laplace variable;sin order to obtain the damping coefficient of the system,
Kqthe flow gain of the proportional speed control valve, I is the electromagnet input control current of the proportional speed control valve, CtpIs the total leakage coefficient, V, of an equivalent hydraulic oil cylindereIs the total volume of the equivalent hydraulic cylinder cavity, E is the volume elastic modulus of oil, ApIs the action area of an equivalent hydraulic oil cylinder;
specifically, the S3.1 includes:
s3.1.1, making simplifying assumptions about the steering system;
specifically, the following assumptions are made for the steering system to simplify the analysis:
(1) neglecting the influence of the starting process of the electromagnetic directional valve on the dynamic characteristics of the steering system.
(2) The viscosity, density and elastic modulus of the oil liquid are not changed along with the changes of pressure and temperature.
(3) Only the coupling effect of force is considered among the steering oil cylinders, and the acting force among the steering oil cylinders is regarded as interference force.
S3.1.2 derivation of proportional governor valve output flow qs
qs＝KqI (4)
Wherein, KqThe flow gain of the proportional speed control valve is shown, and I is the control current input by the electromagnet of the proportional speed control valve.
It should be noted that, in this case, the proportional variable valve operates in a linear section.
S3.1.3, deducing the flow q flowing into the equivalent hydraulic oil cylinderB
Wherein p isBFor equivalent load pressure of hydraulic cylinder, CtpIs the total leakage coefficient, V, of an equivalent hydraulic oil cylindereIs the total volume of the equivalent hydraulic cylinder cavity, E is the volume elastic modulus of oil, ApThe effective area of the equivalent hydraulic oil cylinder is shown, and Y is the output displacement of the equivalent hydraulic oil cylinder.
It should be noted that the output displacement Y of the oil cylinder and the vehicle body corner
Are in a proportional relationship.
S3.1.4, deducing a torque balance equation of the steering hydraulic oil cylinder
Wherein, JtRepresenting the moment of inertia of the equivalent load;prepresents the viscous damping coefficient, T, of the equivalent hydraulic oil cylinderLRepresenting the steering resistance torque during steering; p is a radical ofB1Representing the acting force arm of the equivalent hydraulic oil cylinder; p is a radical ofB2Representing the output pressure of the equivalent hydraulic oil cylinder; and R represents the acting force arm of the equivalent hydraulic oil cylinder.
S3.1.5 deriving transfer function of steering system
Wherein the content of the first and second substances,
is a proportional factor, omega, between the angle of rotation of the vehicle body and the output displacement of the oil cylinderhWhich is the natural frequency of the hydraulic power steering system,
s is a laplace variable;sin order to obtain the damping coefficient of the system,
Kqthe flow gain of the proportional speed control valve, I is the electromagnet input control current of the proportional speed control valve, CtpIs the total leakage coefficient, V, of an equivalent hydraulic oil cylindereIs the total volume of the equivalent hydraulic cylinder cavity, E is the volume elastic modulus of oil, ApIs the action area of an equivalent hydraulic oil cylinder;
the transfer function (7) is obtained by performing laplace transform on the (4) to (6) in parallel, and neglecting the viscous damping of the oil.
S3.2, obtaining the angle deviation through calculation
Specifically, the amount of change in the desired rotation angle is calculated based on the amount of change in the calculated desired rotation angle
Obtaining the angle deviation with the detected real-time angle variation of the vehicle body
S3.3, controlling the adjustment of the vehicle body corner of the vibratory roller by the steering system to achieve the expected vehicle body output corner;
specifically, the steering controller 4 obtains an angle deviation according to the calculated expected corner variation and the real-time angle variation detected by the angle encoder 3, adjusts the proportional speed regulating valve to input a control current, and outputs the control current to the steering oil cylinder through the hydraulic system of the road roller to realize the adjustment of the corner of the road roller body, thereby achieving the expected output of the vehicle body corner.
And S3.4, adjusting the driving course and the position coordinates of the vibratory roller by the vehicle body output corner through the integral motion model of the vibratory roller.
As a specific implementation manner of the embodiment of the present invention, please refer to fig. 3 to 11 together, the control manner of the steering system in step 3 includes fuzzy PID control;
according to angular deviation in the fuzzy PID control
Rate of change of
And the operation experience of the driver, and the adjustment quantity delta k of the comparative example adjustment parameter is establishedpIntegral adjustment parameter adjustment quantity delta kiAnd a differential tuning parameter adjustment Δ kdThe fuzzy control rule of (1).
As a specific implementation manner of the embodiment of the invention, the running speed of the vibratory roller is controlled by adopting a PID algorithm. By adopting the PID algorithm, the vibratory roller can overcome the influence of vibration and uneven road surface conditions, and the running speed of the vibratory roller can be effectively ensured to be stabilized at the set speed.
In the embodiment, a PID algorithm is adopted to control the running speed of the vibratory road roller, and the running speed of the vibratory road roller is acquired in real time through a speed sensor arranged on a vibratory steel wheel to realize speed closed-loop control. Three regulating parameters (proportional regulating parameter k) of speed PID controllerpIntegral adjustment parameter kiDifferential adjustment parameter kd) Determined by automatic driving experiments.
In the present embodiment, the parameter of the proportional adjustmentpTo 3, integral adjustment of the parametersiIs 0.5, a differential tuning parameter kdAnd 1, stabilizing the actual operation speed of the vibratory roller at a set speed.
Compared with the prior art, the method for adjusting the motion path of the vibratory roller provided by the invention realizes the control of the vibration error, the vibratory roller adopting the method has better control performance under the condition of larger initial transverse error, and the control error has smaller overshoot and shorter corresponding time.
The invention also provides a control system for the movement of the vibratory roller. Referring also to fig. 12 to 13, a control system for the movement of a vibratory roller comprises a steering system for adjusting the steering direction of the body of the vibratory roller; the steering system comprises a positioning component 1, a directional component 2, an angle encoder 3 and a steering controller 4, wherein the positioning component 1 is arranged on the main body of the vibratory roller and used for detecting the current position of the center of the vibratory steel wheel; the orientation assembly 2 is arranged on the main body of the vibratory roller and used for detecting the current course of the vibratory roller; the angle encoder 3 is arranged on the main body of the vibratory roller and is used for detecting the variable quantity of the body angle of the vibratory roller in real time; and the steering controller 4 is electrically connected with the positioning assembly 1, the orientation assembly 2 and the angle encoder 3 and is used for receiving and processing electric signals sent by the positioning assembly 1, the orientation assembly 2 and the angle encoder 3 and adjusting the body corner of the vibratory roller.
Calculating a transverse error e according to the current position coordinates of the center of the vibrating steel wheel detected by the positioning component 1 and the coordinates of a corresponding expected point of the center of the vibrating steel wheel on a set linear trackl(ii) a And calculating to obtain the required course of the road roller according to the transverse error and the corresponding pre-aiming distance at the corresponding speed. Comparing the current course of the road roller detected by the orientation component 2 with the course required by the road roller to obtain course deviation; and calculating an expected vehicle body corner variation according to the course deviation, obtaining an angle deviation by the steering controller 4 according to the calculated expected corner variation and the real-time angle variation detected by the angle encoder 3, adjusting the input control current of the proportional speed regulating valve, and outputting the control current to a steering oil cylinder through a hydraulic system of the road roller to realize the adjustment of the road roller vehicle body corner so as to achieve the expected output vehicle body corner.
Compared with the prior art, the control system for the movement of the vibratory roller can quickly and accurately complete the adjustment of the direction of the vibratory roller in the rolling process through the steering system consisting of the steering controller 4, the orientation component 2, the positioning component 1 and the angle encoder 3.
In the present embodiment, the steering controller 4 includes a steering angle deviation
And angular deviation
Rate of change of
As fuzzy input quantity to control PID adjustment quantity delta k of currentp、ΔkiAnd Δ kdA fuzzy PID controller as fuzzy output quantity. The course tracking fuzzy PID controller based on the preview has better control effect, and the control error of the fuzzy PID controller has shorter corresponding time.
Specifically, the amount of change in the body angle will be expected
Angle deviation from actual vehicle body corner variation
As fuzzy input quantity, PID regulating quantity delta k of proportional speed regulating valve control currentp、Δki、ΔkdAs a fuzzy output.
Defining angular deviations
Has a discourse field of [ -24 DEG, 24 DEG ]]Rate of change of angular deviation
Has a discourse field of [ -9, 9 [)](°).s-1. The quantization levels of the two are-3, -2, -1, 0, 1, 2 and 3, the angle deviation is obtained
The quantization factor of (a) is 0.125. Rate of change of angular deviation
Has a quantization factor of 0.33.
PID adjustment quantity delta k of control currentpHas a discourse field of [ -0.3, 0.3]，ΔkiHas a discourse field of [ -0.015, 0.015]，ΔkdDiscourse domain ofIs [ -0.3, 0.3 [)]And the quantization factors of the three are all 1.
Fuzzy subsets of input-output variables are defined as negative large (NB), Negative Medium (NM), Negative Small (NS), Zero (ZO), Positive Small (PS), Positive Medium (PM), and positive large (PB).
Referring to fig. 12 and 13 together, the control system further includes a driving control system for controlling the driving direction and speed of the vibratory roller; the driving control system comprises a position data acquisition instrument 5 and a driving controller 6, wherein the position data acquisition instrument 5 is arranged on the vibratory roller main body and is used for acquiring and outputting the real-time speed of the vibratory roller main body and the deviation of the real-time speed and the set speed; and the driving controller 6 is electrically connected with the position data acquisition instrument 5 and the vibratory roller main body and is used for adjusting the driving speed or/and the driving direction of the vibratory roller main body. And the running controller 6 adjusts the current of coils at two ends of the control valve according to the deviation of the real-time speed and the set speed of the road roller fed back by the position data acquisition instrument 5 (such as a GPS data acquisition instrument and the like), so that the automatic running speed and direction of the vibratory road roller are controlled.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A method for adjusting the path of motion of a vibratory roller, comprising the steps of:
step 1, planning a track of a tracking straight line;
step 2, determining the tracking error between the vibratory roller and the track of the tracking straight line
Wherein: (x, y) represents the actual distance position coordinate of the center of the vibration steel wheel of the vibration road roller, theta represents the actual course angle of the vibration steel wheel, (x)d，yd) Representing the desired coordinate, theta, of the center of the wheel on the track of the straight line corresponding to the current coordinate of the center of the wheeldIndicating the desired heading angle of the vibrating steel wheel,
the error in the rotation angle is represented by,
and calculating the expected vehicle body corner variation according to the tracking error
Wherein k issDenotes the adjustment coefficient, eθIndicating a heading error, elRepresents lateral error, l represents pre-aiming distance, and elOne-to-one correspondence is realized;
step 3, calculating the variation of the expected vehicle body corner
And the angle deviation of the real-time angle variation of the vehicle body
And adjusting the rotation angle of the body of the vibratory roller through a steering system.
2. A method of adjusting the path of movement of a vibratory roller as claimed in claim 1, wherein step 2 comprises:
step 2.1, constructing the integral motion model of the vibratory roller
Wherein v is the speed of the vibrating steel wheel, omega is the course angular speed of the vibrating steel wheel,
the angle of the vehicle body is represented, l represents the distance from the center of the vibrating steel wheel or the driving vehicle body to the intersection point, theta represents the course direction of the vibrating steel wheel, and (x.y) represents the coordinate of the center of the vibrating steel wheel;
step 2.2, calculating a transverse error e according to the coordinates of the current position of the center of the vibrating steel wheel and the coordinates of a corresponding expected point of the center of the vibrating steel wheel on the track of the tracking straight linel；
Step 2.3: according to the transverse error elAnd obtaining the required course of the vibratory roller by the corresponding pre-aiming distance l at the corresponding speed, comparing the current course of the vibratory roller with the required course of the vibratory roller to obtain a course error eθ；
Step 2.4: according to course error eθCalculating the expected vehicle body corner variation
3. A method of adjusting the path of movement of a vibratory roller as claimed in claim 2, wherein step 3 comprises:
step 3.1, constructing a mathematical model of the steering system and determining a transfer function of the steering system
Wherein the content of the first and second substances,
is a proportional factor, omega, between the angle of rotation of the vehicle body and the output displacement of the oil cylinderhWhich is the natural frequency of the hydraulic power steering system,
s is a laplace variable;sin order to obtain the damping coefficient of the system,
Kqthe flow gain of the proportional speed control valve, I is the electromagnet input control current of the proportional speed control valve, CtpIs the total leakage coefficient, V, of an equivalent hydraulic oil cylindereIs the total volume of the equivalent hydraulic cylinder cavity, E is the volume elastic modulus of oil, ApIs the action area of an equivalent hydraulic oil cylinder;
step 3.2, calculating the angle deviation
3.3, controlling the adjustment of the vehicle body corner of the vibratory roller by the steering system to achieve the expected vehicle body output corner;
and 3.4, adjusting the driving course and the position coordinates of the vibratory roller by the vehicle body output corner passing through the integral motion model of the vibratory roller.
4. A method of conditioning the path of movement of a vibratory roller as claimed in any one of claims 1 to 3, wherein: the control mode of the steering system in the step 3 comprises fuzzy PID control;
according to angular deviation in the fuzzy PID control
Rate of change of
And the operation experience of the driver, and the adjustment quantity delta k of the comparative example adjustment parameter is establishedpIntegral adjustment parameter adjustment quantity delta kiAnd a differential tuning parameter adjustment Δ kdThe fuzzy control rule of (1).
5. A method of adjusting the path of movement of a vibratory roller as claimed in claim 1, wherein: and the running speed of the vibratory roller is controlled by adopting a PID algorithm.
6. A control system for the movement of a vibratory roller, comprising: the steering system is used for adjusting the steering direction of the vehicle body of the vibratory roller;
the steering system includes:
the positioning assembly is arranged on the main body of the vibratory roller and used for detecting the current position of the center of the vibratory steel wheel;
the orientation assembly is arranged on the main body of the vibratory roller and used for detecting the current course of the vibratory roller;
the angle encoder is arranged on the main body of the vibratory roller and is used for detecting the variable quantity of the body angle of the vibratory roller in real time;
and the steering controller is electrically connected with the positioning assembly, the orientation assembly and the angle encoder and is used for receiving and processing electric signals sent by the positioning assembly, the orientation assembly and the angle encoder and adjusting the body corner of the vibratory roller.
7. A control system for a vibratory roller as claimed in claim 6 wherein the steering control includes an angular offset
And angular deviation
Rate of change of
As fuzzy input quantity to control PID adjustment quantity delta k of currentp、ΔkiAnd Δ kdA fuzzy PID controller as fuzzy output quantity.
8. A control system for a path of movement of a vibratory roller as claimed in claim 6, wherein: the control system also comprises a driving control system for controlling the driving direction and speed of the vibratory roller;
the travel control system includes:
the position data acquisition instrument is arranged on the vibratory roller main body and is used for acquiring and outputting the real-time speed of the vibratory roller main body and the deviation of the real-time speed and the set speed;
and the driving controller is electrically connected with the position data acquisition instrument and the vibratory roller main body and is used for adjusting the driving speed or/and the driving direction of the vibratory roller main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010713377.7A CN111625008A (en) | 2020-07-22 | 2020-07-22 | Method for adjusting motion path of vibratory roller and control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010713377.7A CN111625008A (en) | 2020-07-22 | 2020-07-22 | Method for adjusting motion path of vibratory roller and control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111625008A true CN111625008A (en) | 2020-09-04 |
Family
ID=72260414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010713377.7A Pending CN111625008A (en) | 2020-07-22 | 2020-07-22 | Method for adjusting motion path of vibratory roller and control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111625008A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050622A (en) * | 2021-02-01 | 2021-06-29 | 武汉光庭科技有限公司 | Method and system for controlling path tracking of unmanned road roller, server and medium |
| CN116176697A (en) * | 2023-04-28 | 2023-05-30 | 北京市农林科学院智能装备技术研究中心 | Method and device for tracking operation path of articulated steering agricultural machinery and electronic equipment |
-
2020
- 2020-07-22 CN CN202010713377.7A patent/CN111625008A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050622A (en) * | 2021-02-01 | 2021-06-29 | 武汉光庭科技有限公司 | Method and system for controlling path tracking of unmanned road roller, server and medium |
| CN113050622B (en) * | 2021-02-01 | 2022-10-18 | 武汉光庭科技有限公司 | Method and system for controlling path tracking of unmanned road roller, server and medium |
| CN116176697A (en) * | 2023-04-28 | 2023-05-30 | 北京市农林科学院智能装备技术研究中心 | Method and device for tracking operation path of articulated steering agricultural machinery and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111857157A (en) | Method for adjusting motion path of vibratory roller and control system | |
| US8175771B2 (en) | Control apparatus for electric power steering system | |
| JP4957071B2 (en) | Control device for electric power steering device | |
| EP3309044B1 (en) | Steering assist apparatus | |
| CN112918550B (en) | Control method and control system for active steering system of unmanned automobile | |
| US8660749B2 (en) | Motor vehicle steering system | |
| CN111625008A (en) | Method for adjusting motion path of vibratory roller and control system | |
| US8234044B2 (en) | Steering control system for vehicle | |
| JPS6133746B2 (en) | ||
| US7546191B2 (en) | Handwheel damping control of active steering system | |
| CN111923908A (en) | Stability-fused intelligent automobile path tracking control method | |
| JP2000302055A (en) | Traffic lane followup control device | |
| KR101241621B1 (en) | Lane keeping assist system considering driver's range of view and steering tendency by speed | |
| JP5633118B2 (en) | Travel control device | |
| JPS60229873A (en) | Method of controlling steering of rear wheel in four wheel steering vehicle | |
| CN110989346B (en) | Intelligent control method integrating decision behaviors of driver | |
| CN112965498A (en) | Intelligent sweeping machine running track tracking control method | |
| JP2946778B2 (en) | Travel control device for hydraulically driven vehicle | |
| JP3235384B2 (en) | Actual steering angle control device for vehicle | |
| Cong et al. | Path Tracking Control Based on Adaptive Control Period | |
| JP2523125B2 (en) | Vehicle steering angle control device | |
| Wu et al. | Numeric Approach on Optimal Control for the Path Following System in Autonomous Vehicle | |
| JP3320882B2 (en) | Vehicle steering system | |
| CN110949504A (en) | E-HHPS (enhanced-Hilbert-Huang-Shafer) commercial vehicle lateral stability control method based on extension active disturbance rejection control | |
| JP2523118B2 (en) | Vehicle steering angle control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |