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针对某种轮轨设备实现任意设定行走距离自动平稳走行到位的实际需求,分析该设备行走液压系统的驱动原理和行走过程规律。以PID控制理论为基础,提出具有距离和速度两套PID闭环的轮轨设备自动行走控制算法,给出符合预设速度变化的行走驱动液压泵控制电流,以实现轮轨设备的行走自动控制需求。通过试验,证明该算法不但可以保证设备平稳地自动行走到位,还可以保证较高的停车精度。
Aiming at the actual demand of a kind of wheel and rail equipment to realize the automatic and stable walking distance arbitrarily set, the driving principle and traveling process of the walking hydraulic system are analyzed. Based on the theory of PID control, this paper proposes an automatic walking control algorithm for wheel-rail equipment with two sets of PID closed-loop with distance and speed, and gives the control current of walking-driven hydraulic pump that meets the preset speed change, so as to realize the automatic control requirements of walking and rolling equipment . The test proves that the algorithm can not only ensure the smooth running of the device, but also ensure the high parking accuracy.