Automatic Rolling Control for Unmanned Vibratory Roller Based on Fuzzy Algorithm

Abstract:

A path following control method based on fuzzy algorithm was proposed to improve the unmanned vibratory roller’s operation quality that was influenced by the path following error during automatic vibration rolling. The kinematic model of the vibratory roller as well as the hydraulic power steering model was developed. The heading following algorithm based on the lookahead scheme and the fuzzy proportionintegralderivative (PID) controller was designed to control the automatic rolling error. The simulation of the path following control model and the field automatically rolling experiments verified the control performances of the automatic rolling for the unmanned vibratory roller. The results show that the heading following fuzzy PID control algorithm based on the lookahead scheme has better control performances than the conventional PID algorithm and prove the effectiveness and superiority of the fuzzy control algorithm in the unmanned vibration rolling.

Key words:unmanned vibratory roller; articulated hydraulic steering; heading following based on lookahead scheme; fuzzy proportionintegralderivative (PID) control