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| 一种拖拉机自动驾驶神经网络自调整因子模糊控制方法的研究 | |
| 引用本文： | 吕安涛,毛恩荣,林玮静.一种拖拉机自动驾驶神经网络自调整因子模糊控制方法的研究[J].拖拉机与农用运输车,2009,36(3). |
| 作者姓名： | 吕安涛 毛恩荣 林玮静 |
| 作者单位： | 1. 山东省交通科学研究所,济南,250031 2. 中国农业大学,工学院,北京,100083 3. 中国重汽技术中心,济南,250002 |
| 摘 要： | 主要论述拖拉机自动驾驶的驾驶原理,建立了拖拉机自动驾驶横向控制的力学模型,提出了自调整因子函数,设计了一种用于拖拉机自动驾驶的神经网络自调整因子模糊控制方法,用simulink对这种控制方法进行了仿真验证,结果表明,所提出的方法和规则用于拖拉机自动驾驶是可行的。 |
| 关 键 词： | 拖拉机 自动驾驶 模糊控制 自调整因子 |
Study on Fuzzy Control Technique with Nerve Network Self-adjustive Factor of Tractor Automatic Steering |
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| L An-tao,MAO En-rong,LIN Wei-jing.Study on Fuzzy Control Technique with Nerve Network Self-adjustive Factor of Tractor Automatic Steering[J].Tractor & Farm Transporter,2009,36(3). | |
| Authors: | L An-tao MAO En-rong LIN Wei-jing |
| Institution: | L(U) An-tao,MAO En-rong,LIN Wei-jing |
| Abstract: | This paper mostly introduces operating principle of autonomous tractor,then tractor automatic steering dynamic model is set up and the equation of self-adjusting function was established and its parameter was determined so as to set up multi-training samples to train the nerve networks,in addition a fuzzy control technique with self-adjustive factor is designed,which is evaluated by using simulink software.The result reveals that the complex fuzzy control technique produces the behaviours which are very similar to driver,and proposed the mothods and regulation are suitable for tractor automatic steering system. |
| Keywords: | Tractor Autonomous driving Fuzzy control Self-adjustive factor |
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