Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Transverse control method for hydraulic transverse controller of steel wheel road roller
Aiming at the technical problems in the prior art, the invention provides a transverse control method for a hydraulic transverse controller of a steel wheel road roller, which comprises the following steps of 1, controlling the road roller to run according to a planned path and a target angular speed through a pure tracking algorithm, 2, compensating a steering angle in combination with a steering gap of a steering system of the road roller in the driving process, 3, carrying out transverse deviation compensation through a PID compensation algorithm, 4, compensating the current angular velocity through a PID compensation algorithm, 5, conducting course deviation compensation through a PID compensation algorithm, and 6, converting the target front wheel deflection angle of the vehicle into a target steering wheel rotation angle for output control in combination with incremental PID control logic. On the basis of the existing pure tracking algorithm, navigation assistance is added to compare the difference between the target course and the current course, and deviation compensation is carried out through multiple compensation algorithms to improve the transverse control precision of the curve so as to ensure that the modulus error in the whole construction process is greatly reduced.
本发明针对现有技术中存在的技术问题，提供一种针对钢轮压路机液压横向控制器的横向控制方法，包括以下步骤：步骤一：通过纯追踪算法控制压路机按照规划路径和目标角速度行驶；步骤二：行驶过程中结合压路机的转向系统的转向间隙对转向角度进行补偿；步骤三：通过PID补偿算法进行横向偏差补偿；步骤四：再通过PID补偿算法对当前角速度进行补偿；步骤五：再通过PID补偿算法进行航向偏差补偿；步骤六：然后结合增量式PID控制逻辑，将车辆的目标前轮偏角转换为目标方向盘转角输出控制。在现有纯追踪算法和基础上添加航行辅助对比目标航向与当前航向的差值，并通过多种补偿算法进行偏差补偿以提高弯道处横向控制精度确保整个施工过程中模向误差大大降低。
Transverse control method for hydraulic transverse controller of steel wheel road roller
Aiming at the technical problems in the prior art, the invention provides a transverse control method for a hydraulic transverse controller of a steel wheel road roller, which comprises the following steps of 1, controlling the road roller to run according to a planned path and a target angular speed through a pure tracking algorithm, 2, compensating a steering angle in combination with a steering gap of a steering system of the road roller in the driving process, 3, carrying out transverse deviation compensation through a PID compensation algorithm, 4, compensating the current angular velocity through a PID compensation algorithm, 5, conducting course deviation compensation through a PID compensation algorithm, and 6, converting the target front wheel deflection angle of the vehicle into a target steering wheel rotation angle for output control in combination with incremental PID control logic. On the basis of the existing pure tracking algorithm, navigation assistance is added to compare the difference between the target course and the current course, and deviation compensation is carried out through multiple compensation algorithms to improve the transverse control precision of the curve so as to ensure that the modulus error in the whole construction process is greatly reduced.
本发明针对现有技术中存在的技术问题，提供一种针对钢轮压路机液压横向控制器的横向控制方法，包括以下步骤：步骤一：通过纯追踪算法控制压路机按照规划路径和目标角速度行驶；步骤二：行驶过程中结合压路机的转向系统的转向间隙对转向角度进行补偿；步骤三：通过PID补偿算法进行横向偏差补偿；步骤四：再通过PID补偿算法对当前角速度进行补偿；步骤五：再通过PID补偿算法进行航向偏差补偿；步骤六：然后结合增量式PID控制逻辑，将车辆的目标前轮偏角转换为目标方向盘转角输出控制。在现有纯追踪算法和基础上添加航行辅助对比目标航向与当前航向的差值，并通过多种补偿算法进行偏差补偿以提高弯道处横向控制精度确保整个施工过程中模向误差大大降低。
Transverse control method for hydraulic transverse controller of steel wheel road roller
一种针对钢轮压路机液压横向控制器的横向控制方法
22.10.2021
Patent
Elektronische Ressource
Chinesisch
IPC:
B60W
CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION
,
Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion
/
E01C
Bau von Straßen, Sportplätzen oder dgl., Decken dafür
,
CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE
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