The problem of building a model of an intelligent system for continuous monitoring of the density of asphalt concrete mixture for vibrating rollers is considered. The methodology and theoretical foundations of the construction of such systems for road machines were considered by the author earlier in the author's publications. Four models of functional dependencies of compaction quality indicators on variable dynamic parameters of the system are proposed. An algorithm that implements the proposed method is presented, as well as scientific results obtained on the basis of measured signals of vibration parameters in a field experimental study during the construction of the upper layer of asphalt concrete pavement of a highway. Scientific results were obtained on the basis of the analysis of data of variables in the time domain.

Keywords: intelligent system, fuzzy neural network, asphalt roller

The problem of controlling stepper motors of a road printer using the method of neuro-fuzzy control is considered. An algorithm for developing an intelligent control system for stepper motors is described. A training sample is obtained according to the data of variables determined as a result of modeling an automatic control system with a continuous proportional-integral-differentiating (PID) regulator. Training of the adaptive neuro-fuzzy output system by the hybrid method was performed using the MATLAB program. Transient characteristics of the control system with continuous and neuro-fuzzy PID regulators have been built. Direct indicators of the quality of the considered control systems of stepper motors have been determined, and an analysis of these results has been carried out. The use of neuro-fuzzy-PID control of stepper motors made it possible to obtain a high-quality transient process, confirmed as a result of a computational experiment.

Keywords: Road printer, stepper motor, travel printer, stepper motor, transfer function, adaptive neuro-fuzzy output system

The problem of synthesizing the parameters of the drive control system of the responsible unit of the construction 3D printer - the screw dispenser of the print head using the method of neuro-fuzzy control is considered. An algorithm for building an intelligent drive control system is described. A training sample is obtained from the data of variables determined as a result of modeling the automatic system control with a continuous proportional-integral-differentiating (PID) regulator. Training of a neuro-fuzzy output system in the MATLAB software environment is performed using the hybrid method a. Transient characteristics of the control system with continuous and neuro-fuzzy proportional-differentiating (PD) regulator are obtained. Direct indicators of the quality of the considered control systems are determined, and an analysis of these results is carried out. The use of neuro-fuzzy control of the screw doser drive of the 3D printer print head made it possible to obtain the desired a transient process confirmed as a result of a computational experiment.

Keywords: 3D printer, screw dispenser drive, print head, concrete mix, transfer function, proportional-integral-differentiating controller, neuro-fuzzy output system

Compaction is one of the most important technological processes in in the asphalt (AC) pavement construction. Joint management of asphalt pavers and several rollers, allowing each roller to seal the road layer most efficiently with optimal compaction modes to ensure the required compaction quality, is an unsolved problem. To solve this problem, on the basis of modern achievements of scientific and technological progress, a cyberphysical system is proposed as an organizational and technical concept of information flow management. The structure of the system for monitoring and controlling the compaction of AC mixtures with a set of pavers – road rollers is proposed. The development of a cyberphysical road construction system makes it possible, based on digitalization, to effectively manage several road vehicles on the construction sites of road transport infrastructure projects for joint and adaptive compaction.

Keywords: compaction of asphalt mixtures, real-time quality control, road vehicles, cyber-physical system, control system

The article presents the results of a study of the stepper motor control system of a road printer. The use of a stepper motor imposes additional requirements on the road printer in terms of operating parameters control. The main requirement for the stepper motor of the road printer is to ensure the rotation of the rotor, at a given angle, which depends on the control mode. The description of the road printer is given. The dependencies of the stepper motor as a control object are given. Investigated for the stability of the Nyquist system. A simulation model of the stepper motor control system of a road printer has been developed and simulation results are presented.

Keywords: road printer, stepper motor, mathematical model, transfer function, modeling, controller

The results of an experimental study of the process of laying asphalt mix with automation components of the technology of non-destructive continuous compaction control in the field of road construction are presented. The research was carried out in order to obtain real data for the task of creating a quality control system for compacting road materials in real time. During the study, the operating parameters of the paver were measured (velocity of movement, the frequency of impacts of the tamper, the frequency of vibration of the plate), the temperature of the compacted asphalt mixture, the thickness of the pavement layer, the vertical acceleration of the vibrating plate. The study used asphalt concrete mix type A grade I according to GOST 9128-2013. The operating parameters varied: the frequency of impacts of the tamper, the frequency of vibration of the plate. The acceleration of the vibrating plate was determined using a digital accelerometer with wireless signal transmission via Bluetooth to a smartphone with the Android operating system. The paper obtained the values of dimensionless complexes, the index of compaction of asphalt concrete mixture - the peak factor characterizing the change in the quality of compaction of asphalt concrete mixture.

Keywords: asphalt mix, non-destructive technologies, continuous compaction control, compaction index, acceleration of vibrating plate

The problem of creating a neural network system of automatic control (ACS) of the compaction process for asphalt pavers (AP) is considered. This task is aimed at improving the performance of the AP and the quality of road surfaces of highways. The model of inverse neurocontrol is implemented. When training an artificial neural network (ANN), an exit error of the control object was used. Input information signals of the neural network ACS: the speed of the paver; type of asphalt concrete mixture; layer thickness; force in the tamper pusher; acceleration of the vibrating plate. The is presented results of a computational experiment in the MATLAB/Simulink program, which showed good convergence with experimental data from field tests of pavers.

Keywords: automatic compaction control, non-destructive technologies, artificial neural networks, road construction, pavers