【作者】 颜武刚；

【导师】 朱洪前；

【作者基本信息】 中南林业科技大学 ， 森林工程， 2011， 硕士

【摘要】 本论文以履带式摊铺机行驶控制系统为研究对象,在力平衡方程和流量连续性方程理论的基础上建立了系统的静态数学模型；并且在仿真软件中建立相应的动态仿真分析模型,用AMESim仿真软件对影响系统动态性能的因素进行了仿真分析；由于系统的负载变化非常频繁,外界干扰对行驶速度的影响很大,所以系统的各个参数也会随着工况一起变化,是一类典型的非线性不确定系统。因此,需要寻找一种更好的控制策略以适应外负载等变化而产生的干扰。针对这些干扰因素本文设计了常规PID、模糊自适应PID、基于干扰观测器的模糊自适应PID及单神经元自适应PID控制器,并进行了控制效果比较,研究结果表明：通过控制器的合理设计,系统的动态性能可以得到明显的改善。本论文主要研究工作与贡献如下：1.采用AMESim仿真软件建立了履带式摊铺机行驶驱动控制系统的简化控制模型,并且分析了泄露系数、负载大小、负载转动惯量、体积弹性模量和高压容积对系统的影响。2.基于履带式摊铺机行驶控制系统分析模型,设计了常规PID、模糊自适应PID、基于干扰观测器的模糊自适应PID及单神经元自适应PID控制器,仿真结果表明：运用单神经元自适应PID控制器得出的仿真结果与前面几种控制器进行比较发现,使用单神经元自适应PID控制器时,系统的超调明显减小、响应时间缩短且到达稳态的时间也得到缩短。更多还原

【Abstract】 In this thesis with crawler paver driving drive system as the research object, using force equilibrium equations and flow continuity equation establish system static mathematic model, in the simulation software establish corresponding dynamic simulation model, and use the AMESim simulation software system dynamic performance of affecting factors on the simulation analysis, The system’s speed can’t keep stable when its load changes. And some parameters may change during working process, so pump-controlled motor system is a typical complex nonlinear system. Therefore, at present, it is an important task to find a more efficacious control method for controlling system’s caused by the changes of load and so on.According to these factors, this paper introduces the design of the conventional PID adaptive fuzzy PID, based on interference observer fuzzy adaptive PID and single neuron adaptive PID controller and simulate calculation, and the control effect is compared, the result shows that the reasonable design by the controller, the dynamic function of the system can be improved. This thesis mainly research work and contribution as follows:This thesis mainly include the following aspects of content:Firstly,using AMESim simulation software established the simplified control model ofcrawler paver driving drive system, and analyzes the leak coefficient, load size, load inertia, volume elastic modulus, high-pressure volume of system influence.Secondly,driving control system based on crawler paver, design the analysis model of conventional PID, fuzzy adaptive PID, based on the fuzzy adaptive disturbance observer PID and single neuron adaptive PID controller, the simulation results show:using single neuron adaptive PID controller in front of the simulation results obtained with comparing several controller,found that use of the single neuron adaptive PID controller, the system of super rising shorten, response time shorten and arrival steady time shorten as well.更多还原