Research on Deviation Correction Control Technique of the Paver’s Traveling System

In order to improve the performance of crawler paver’s traveling and reduce the paver’s straight traveling deviation, a new control plan of paver’s traveling system was proposed. In the control plan, the left wheel control method adopted velocity closed loop control in order to keep constant-speed moving of the paver. The right wheel control method adopted the series structure of fuzzy control and PID control in which the fuzzy controller slightly adjusted the right wheel set point of PID controller according to the distance difference variable and velocity difference variable of paver’s left wheel and right wheel. In the working condition of straight paving, the real time deviation correction is achieved to assure paver’s straight traveling.