Research On The Controller Of Asphalt Paver's Driver System Based On Embedded System

Asphalt concrete paver is one of construction machinery, which can be used for asphalt concrete pavement, and it is also one of the road machinery. It takes asphalt mixture and other materials paving uniformly to roadbed or pavement base, and by preliminary vibrating and leveling to form the effective pavement having some width and depth and flatness and compactness, which makes asphalt concrete paver to be the necessary equipment for the construction of heavier loads and higher traffic volume. As the key controlling department, the driver system controller of asphalt concrete paver, which it's main task is automatic controlling of paver direction and speed including acceleration,deceleration,forward,backward,turning and so on. It can not only realize driver controlling, but also is very important to improve the driver performance and the construction level of automatism and pavement construction quality. So, studying driver controlling system of asphalt concrete paver has great theoretical and realistic means.This article deeply analyzed asphalt concrete paver's important parts and characteristics of the system and relationship between each other by wholly knowing its current situation and function requirement and controlling requirement, and analyzed the hydraulic servo driving system and controlling ways of asphalt paver, and also realized automatic controlling of paver direction and speed including acceleration,deceleration,forward,backward,turning and so on. By analyzing the velocity curve of the driving system, it puts emphasis on the constant-velocity technology, because of velocity errors have a direct influence on pavement roughness, which is one of the most important technical requirements of construction quality. According to the characteristics of non-linear and time-variable of hydraulic servo system of paver, a fuzzy algorithm is introduced to restrain the effect of all kinds of non-linear factors. On the basis of the fuzzy algorithm, a traditional PID controller is used to improve the steady-state performance. Combined on the characteristics of them, both the PID and fuzzy control are integrated into the design of the drive controller; At the same time, in order to solve the problem that the parameters of PID controller of its driving system is difficult to tune, which often leads to oscillation and overshoot, and the parameters of PID are tuning with trivial details at different operation states, a integrated optimization arithmetic to search the parameters of PID controller of paver was proposed based on chaos. This intelligence control techniques such as fuzzy control and chaos optimization control are applied to study the intelligent controller strategy and high real-time performance intelligence control arithmetic on driving system of asphalt paver. It combines parameters self-tuning Fuzzy-PID control and chaos optimization algorithm to tune or optimize parameters of PID controller. Through software algorithm and its compensable principle are used to improve the controlling system's property in order to satisfy the purposes of constant-velocity of working condition. Based on LPC2138 which is a 32-bit embedded CPU with characteristics of high performance and low power consumption, the hardware design of drive controlling system for paver is realized according to its function requirement and feature of LPC2138 CPU. The digital controller is a controlling system which is based on ARM kernel, such as the general architecture of drive controlling system, the microcontroller of LPC2138, the digital input module, the analog input module, the digital output module, the outputmodule of PWM, the communication module and power module are included.μc/os-Ⅱreal-time embedded operating system is used as the carrier of application software, which was designed with modular structure. Based on ADS1.2 the controller's software design of function modules was completed, which increased the real, stability, reliability of the controlling system. The simulation and analysis by MATLAB software were carried out, and the stimulant experiment is made. The result shows that Fuzzy-PID control can markedly improve the dynamic performance and steady-state precision, that the system has strong adaptability and robustness, and the method is superior to traditional PID control, and proves chaos optimization algorithm easy-implementation,high-efficiency and strong robustness and can get the optimizing parameters fast and efficiently. The simulation results show the advantages of stability fast response, small overshoot and short setting time. Those have proved the study and design to be rational and corrective simultaneously,which can meet the requirements of engineering applications.