| 基于模糊PID自动转向控制系统的研究 |
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| 引用本文： | 张长龙,李文春,马蓉,任玲,石翔. 基于模糊PID自动转向控制系统的研究[J]. 农机化研究, 2016, 0(11): 162-165,176. DOI: 10.3969/j.issn.1003-188X.2016.11.032 |
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| 作者姓名： | 张长龙 李文春 马蓉 任玲 石翔 |
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| 作者单位： | 1. 石河子大学,新疆石河子,832003;2. 新疆阿拉尔万达农机有限公司,新疆阿拉尔,843300 |
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| 基金项目： | 国家高技术研究发展计划项目(2013AA102307);新疆生产建设兵团南疆专项(2013BA048) |
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| 摘 要： | 在拖拉机自动转向控制系统中,为了提高自动转向性能,满足工作需求,设计了参数自整定的模糊PID控制。同时,对模糊控制规则进行了设计,实现对PID3个输出比例因子进行实时修改,提高了系统的控制性能。对模糊PID在MATLAB中进行了建模仿真,通过仿真结果可以看出:该控制方法有很好的稳态精度和自适应能力,明显改善了系统的动态特性,有利于拖拉机自动驾驶精度的提高。通过台架实验,验证了该控制方法的可行性。
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| 关 键 词： | 自动转向 参数自整定 模糊PID 拖拉机 |
Automatic Steering Control System Research on Fuzzy PID |
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| Zhang Changlong;Li Wenchun;Ma Rong;Ren Ling;Shi Xiang. Automatic Steering Control System Research on Fuzzy PID[J]. Journal of Agricultural Mechanization Research, 2016, 0(11): 162-165,176. DOI: 10.3969/j.issn.1003-188X.2016.11.032 |
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| Authors: | Zhang Changlong Li Wenchun Ma Rong Ren Ling Shi Xiang |
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| Affiliation: | Zhang Changlong;Li Wenchun;Ma Rong;Ren Ling;Shi Xiang;College of Mechanical and Electrical Engineering,Shihezi University;Xinjiang Wanda Alar Agricultural Machinery Co.Ltd; |
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| Abstract: | Tractor automatic steering control system , to improve the automatic steering performance ,meet the job require-ments, design the parameter self-tuning fuzzy PID control .Design and implementation of fuzzy control rules and modify the PID three output scaling factor in real time ,improve the control performance of the system .And the fuzzy PID has car-ried on the modeling and simulation in MATLAB, the simulation results can be seen that this control method has good steady precision and adaptive ability , obviously improve the dynamic characteristic of the system , beneficial to the im-provement of the tractor automated driving accuracy . |
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| Keywords: | automatic steering parameter self-tuning fuzzy PID tractor |
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