Research On Coordination Control Of Traffic Cone Automatic Retractable Car For Road Maintenance

As the mileage of highways increases yearly,road control traffic cone automatic retractable vehicles and related maintenance equipment used for expressway maintenance have gradually been paid attention by research institutions and companies in order to increase the efficiency of road maintenance work and reduce the risk of safety accidents in highway maintenance.During the traffic cone retracting operation,the operation logics among the working devices are complex,and affected by the relevant parameters such as the actual speed,the recovery and distance of the traffic cone,and the operation time of the working device.It is difficult to ensure the collection efficiency and the spacing of the distribution,so that the traffic cone is closed.Put the automatic retractable vehicle on the basis of stable and reliable operation to improve the operating efficiency and ensure that vehicles can coordinate orderly operations,the following studies have been conducted and completed:First of all,the dynamic modeling and simulation analysis of the subsystems of each working device is carried out to provide data support for studying the stability of the control system under the time-varying state of the load in the work,according to the work principle of the traffic cone automatic vehicles.The coordination control system framework for the automatic retracting and retrieving of traffic cones is determined,through the analysis of the coordinated control requirements of the whole vehicle.In addition,a coordinated control strategy of real-time vehicle speed,traffic cone recovery and deployment distance,and the action time of working device for vehicle demand speed under different operating conditions is formulated.Drawing up the working device action sequence,and the corresponding action logic flow chart,aiming at the situation that complex and mutually restrictive work device operation logics.Next,in order to verify the rationality of the whole vehicle coordinated control strategy and the logic of the recovery deployment,the subsystem control model of the work device,the logic controller model of the recovery and deployment operation are established respectively and the vehicle speed control program is compiled by MATLAB/Simulink/Stateflow.What's more,hydraulic system models including hydraulic pumps,control valves,hydraulic cylinders,sensors and load modules are established by AMESim.Finally,the simulation of the working device subsystem and the results of the action logic coordination control in the recovery and deployment the working condition are implemented utilizing co-simulation technology.And the required vehicle speed control strategy is also verified.The simulation results show that the hydraulic cylinder of manipulator recovery device has good stability performance under the load disturbance,and it has good follow ability when doing the extension and contraction action;the action logic of the working device meets the action requirements under the recovery and deployment conditions and can complete the collection and dispatch work;moreover,the actual demand of the vehicle can be planned under the premise of ensuring the operating efficiencyaccording to the changes of different working conditions.