中文摘要：

对铺轨机行走液压驱动控制技术进行了研究。铺轨机行走牵引车由履带牵引车和轮轨牵引车以铰接方式联接，其行走液压驱动系统包括履带泵控马达系统和轮轨泵控马达系统两部分。行走液压系统的控制目标是在不同工况下实现对给定速度的跟踪和两套泵控马达系统所提供的牵引力保持给定的匹配关系。文中首先分析了行走系统的控制特性，根据控制目标提出了基于牵引力和马达排量的前馈式PID的速度和力复合控制策略，在仿真中分别采用了基于常规PID和模糊PID的控制，并对仿真结果进行了分析。

英文摘要：

Control technology of track-laying machine＂ s hydraulic drive system was studied. The traveling chassis of the track-laying machine articulated by the pedrail-driven-chassis and track-driven-chassis,and its hydraulic drive system is composed by two independent pump-controlled-motor systems,which are pedrail pump-controlled-motor system and power truck pump-control-motor system. The control aim of the hydraulic driving system is to follow the set speed and to match the pulling force between the two independent pump-control- motor systems in different working conditions.Control characteristic of drive system was analyzed.According to control aim,the multiple control of speed and pull of feed forward PID control based on pulling force were made out and control with traditional PID and fuzzy adaptive PID was used in the simulation.Then the result of simulation was analyzed.