Experimental Study on Constant Speed Control Technology of Hydraulic Drive Pavers

Abstract

The paver needs superior constant speed performance when paving the pavement. In order to effectively reduce the paver speed fluctuation of the paver, and the wandering deviation from the predetermined track during the paving operation, a control scheme of paver travelling system based on GNSS, Global Navigation Satellite System, is proposed; the scheme can realize open-loop control, closed-loop control, and deviation correction control according to the driver’s choice. During closed-loop control, the setting value and the PID controller output of the left wheel are combined to control the speed of the left wheel, as is the closed-loop control of the right wheel. During the deviation correction control, the coordinate provided by the RTK GNSS receiver and the predetermined trajectory line are used to calculate the lateral deviation of the paver. The lateral deviation is input to the right wheel navigation correction PID algorithm. After the calculation, the correction value of the right wheel speed is obtained, which is input to the right wheel PID controller for the deviation correction control. In this paper, the low constant speed performance of the paver, such as during straight driving, turning driving, and driving when resistance changing, was studied by means of experiments. The test results show that when the test paver was running at a speed of more than 2 m/min, the average speed was almost the same. The higher the average speed was, the more stable the speed was. When the paver was less than 1 m/min, its speed fluctuation tended to increase, and its constant speed performance could not be guaranteed. When the test paver hit a movable obstacle at a speed of 5 m/min, which changed the driving resistance, the average speed of the left and right wheels decreased significantly, with a change of about 2.8%, and there was no significant change in the speed fluctuation of the left and right wheels. At the same time, the wandering deviation test proves that the strait-line travelling wandering deviation was basically controlled within 2.5 cm. Without driver intervention, the wandering deviation of the test paver travelling 50 m decreased by about 97.4%, and the constant speed control fluctuation was within 0.2% when the paver travelled at the speed of 5 m/min.