Development of an automatic control system for the position of a trowel for a robotic concrete paving complex

摘要

The paper analyzes the technicals of road construction. Particular attention is paid to the arrangement of the roadway with a concrete mixture, carried out by specialized concrete pavers. The analysis of the basic requirements for the device of the road surface made it possible to formulate the requirements for the system of automatic leveling of the concrete paver. To identify the object of control through the channel "control effect - position" grout beam", in accordance with the transition characteristic, it was proposed to represent its transfer function as a series connection of the integrating and oscillating units. To identify the transfer function of the oscillatory link, the method of sequential logarithm was used, which made it possible to obtain the desired mathematical model. On the basis of the obtained mathematical model and the identified requirements for the system of automatic regulation of the position of the grout beam, two control systems were synthesized. As a result of their comparative analysis, preference was given to a system with a proportional regulator, which is recommended for full-scale tests.