摘要：To achieve automatic rolling of an unmanned vibratory roller, the path following control model of the vibratory roller was built and the influence of drum vibration is considered since the roller always works in the vibration condition. The vibration dynamic model was first established. The dynamic model of the vibratory roller under the influence of exciting force was then developed. The heading following control algorithm based on preview strategy was designed to control the path following errors in unmanned automatic rolling. The control performance of the algorithm was analyzed by simulation based on the vibration dynamic model and the dynamic and kinematic models of the vibratory roller. The control performance was also verified by the field automatic rolling experiments. Experimental results show that the maximum absolute lateral error of line path following is 24.5 cm in vibration rolling and 19.5 cm in non-vibration rolling at the traveling speed of 0.83 m/s. The average absolute lateral errors in vibration and non-vibration rolling are both less than 10 cm. The experimental results verify the effectiveness and achievability of the control algorithm for unmanned vibration rolling. Besides, the ratio of completely compacted area to the whole set area is 97.28% in the field automatic rolling experiment, which meets the requirements for practical use.
关键词：Unmanned vibratory roller; vibration dynamic model; dynamic model of vibratory roller; heading following control; vibration rolling control precision
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