Research On Control System Of Automatic Walking Road Marking Machine

With the increase of China’s highway mileage,the work of highway construction and maintenance is more and more heavy,and the cost of employment is also higher and higher.As an important part of the construction,the marking construction of road markings is also facing more and more construction pressure.At present,the degree of automation of China’s road construction and maintenance machinery is relatively low,and the construction quality often depends on the experience of workers.In order to solve this problem,the automation and intelligence of related equipment is imperative.This paper mainly focuses on the design and research of the automation of the hot melt marking machine in the new marking construction.The main goal of the design is to ensure the accuracy of the marking.The main content of this paper includes:(1)This paper makes a comparative analysis of the relevant technical schemes involved in the design of the scribing machine,and carries out the overall scheme design according to the actual needs of the scribing machine.The final chassis structure is four-wheel differential steering structure,the main controller is STM32F103 for data processing and control command sending,the visual navigation sensor is TSL1401 for road baseline collection.The automatic design of marking operation,discharging control,glass bead spreading control and stirring operation of hot melt marking machine was carried out.(2)According to the design plan,the electrical equipment involved in the main functional modules such as the main control module,drive motor,executive motor,power supply module,temperature measurement module,obstacle avoidance module and liquid level detection module are selected.RS485 communication is used to collect sensor data according to the output formula of temperature measurement module,obstacle avoidance module and liquid level detection module.According to the result of hardware selection,circuit design and control program design are carried out..(3)The key to the automation of the marking machine is the speed and reliability of the marking operation.Therefore,the path correction control system of the marking machine is designed and researched.Firstly,the motion of the marking machine is analyzed and the mathematical model is established.Then the fuzzy control and PID control are studied,the PID control parameters are adjusted,the fuzzy controller of fuzzy control is designed,and the two control strategies are compared and simulated.Finally,according to the results of simulation analysis,the two control strategies are fused,and the fuzzy PID control is designed.The three control methods are compared and simulated.The simulation results show that the three control strategies can meet the requirements of marking accuracy,and the fuzzy PID has the best The control effect.(4)The programming of PID control,fuzzy control and fuzzy PID control is realized by using single-chip computer development software.The control strategy experiment is compared on the model car.The experimental results are basically consistent with the simulation results,which can meet the requirements of marking accuracy,which can be used for future marking.Machine automation design and manufacturing provide a reference.