沥青摊铺机液压行驶驱动系统控制算法和控制策略

::(1963-),,,,.1,2,3,2,1,2(1.,200092;2.,213002;3.,710064):,.PID,Simulink,PIDPID.:;;;:U415.521ControlalgorithmandstrategyforhydraulicdrivingsysteminanasphaltpaverSIGui2mao1,2,3,TUZhong2hua2,WANGAn2lin1,LIAOXiao2ming2(1.MechanicalEngineeringPost2doctorateMobileResearchingStation,TongjiUniversity,Shanghai200092,China;2.MechanicalEngineeringPost2doctorateWorkResearchingStation,ChanglinMachineryCompany,Ltd.,Changzhou213002,China;3.KeyLaboratoryforHighwayConstructionTechniqueandEquipimentoftheMinistryofEducation,ChanganUniversity,Xian710064,China)Abstract:Inaccordancewiththespecializationofhydraulicdrivingsysteminanasphaltpaver,theconstant2speedpavingcontrolisspeculatedbasedonproportional,integralandderivative(PID)controls.AfuzzyPIDhybridcontrolalgorithmisthendeveloped.Afterwards,theestablishedmathematicalmodelisfurthersimu2latedusingSimulinkTM.ItispracticallyfoundthatthefuzzyPIDcontrolmodelismoreeffectivethanthetra2ditionalPIDmethod.Keywords:asphaltpaver;hydraulicdrivingsystem;controlalgorithms;controlstrategyPID,PID,,,,.,,,PID,PIDPID,,.,,,,PID.-,,4320067CHINESEJOURNALOFCONSTRUCTIONMACHINERYVol.4No.3Jul.2006©1994-2007ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(k)=KPe(k)+KIki=1e(k)+KD[e(k)-e(k-1)]:u(k)k;e(k)k;KP,;KI,;KD,.u(k)=u(k)-u(k-1)=KP[e(k)-e(k-1)]+KIe(k)+KD[e(k)-2e(k-1)+e(k-2)]PID,,.,KP,KI,KD,PID.PIDZiegler2Nichols.,,.1.2[1],.(fuzzycontroller,FC):.,,,,,.,,.,,;,,,.,,,.2Fig.2Blockdiagramoffuzzycontrolsystem2.:s;y;ec,;u;E,C,U.:,,.:(1),.2,e,cu.3823,:©1994-2007ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(2),.3,57,{,,},{,,,,},{,,,,,,}.,(3),;.3Fig.3Schematicdiagramofacquiringmembershipfunction(3).,.if2then,:ife=Nandc=N,thenu=PB;,ecu.(4).,;,,,.2,PID,PID,Fuzzy2PID,PID,,PID,,.4,PID.4PIDFig.4FuzzyPIDcontroller2.1eecEEc,,KP,KI,KD,PIDKP,KI,KD.,{,,,,}={NB,NS,ZE,PS,PB}E,Ec,KP,KI,KD.,6mmin-1,e[-0.6mmin-1,0.6mmin-1],PID,KP,KI,KD,KP[0.9,2.1],KI[4,10],KD[0.2,0.6].2.2E,EcE,KP,KI,KD.5,6,1,2.5Fig.5Membershipfunctionofthedeviationandtherate6KP,KI,KDFig.6MembershipfunctionofKP,KI,KD4824©1994-2007ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[2](1)|e|,-,KP;e,KP;,,,KI.(2)|e||ec|,,KP,KI,KD,.(3)|e|,,,KP,KI,,,KD,|e|,KP;|ec|,KD.,KP,KI,KD,34,7.Mamdani.,.3KP,KITab.3FuzzyreasoningrulesofKP,KIKPENBNSZEPSPBKIENBNSZEPSPBNBPBPBPBPSZENBNBNBNBNBZENSPBPSPSZENBNSNBNSNSZEPSEcZEPSPSZENSNBEcZENSNSZEPSPSPSPSZENSNSNBPSNSZEPSPSPBPBZENSNSNBNBPBZEPSPSPBPB7Fig.7Outputofthefuzzycontroller4KDTab.4FuzzyreasoningrulesofKDKDENBNSZEPSPBNBPSZEZEZEPSNSNBNBNSZEPSEcZENBNBNSZEPSPSNBNSNSZEPSPBPSZEZEZEPS5823,:©1994-2007ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[3,4].8PIDFig.8SimulationmodelofthefuzzyPIDcontrolofrunningsystemofpaver9Fig.9SimulationmodelofrunningsystemofpaverKI,NA-1;Kq,m3s-110/Fig.10SimulationmodelofswashplateanglesystemofdumpL11-Fig.11Simulationmodelofpiston2swashplateangle14,15PIDPID[5].1415,,PIDPID.6824©1994-2007ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.:[1].[M].:,1998.[2],.PID[J].:,2003,23(3):91-94.[3].[D].:,2001.[4].Simulink[M].:,2002.[5].MATLAB[M].:,2005.7823,:©1994-2007ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.