拖拉机液压转向变论域模糊控制器设计与试验

2BFQ-6型油菜精量联合直播机田间自动对行作业时,东方红-LX854型拖拉机为其配套动力,实现导航功能,针对导航执行机构——电控全液压转向系统导航作业时转向控制稳定性和准确性差的问题,设计了自适应变论域模糊控制器。应用旋升优选法对模糊控制器参数仿真分析,获得了不同波形、幅值和周期激励信号下的最优参数组合,运用窗口Fourier变换和自卷积法设计了响应类型的实时识别方法,依据识别的结果和仿真寻优获得的参数优化基础模糊器规则的论域。在拖拉机电控全液压转向系统上试验结果表明:变论域模糊控制器对转向20°的阶跃响应的调节时间为2 s,平均稳态误差为0.18°,无稳态振荡现象;跟踪正弦信号平均延时为0.3 s;与定论域模糊控制器相比获得了更好的转向性能。

Variable Universe Fuzzy Controller for Tractor Hydraulic Steering

Variable universe fuzzy controller was designed for guaranteeing the quality of full hydraulic steering control on Dongfanghong-LX854 tractor. The basis fuzzy controller was designed according to the characteristics of the system. The optimal basis fuzzy control parameters under different waveforms and amplitude excitation signals were obtained by using rotation up optimization method in Simulink software. The adaptive fuzzy controller parameter turning changed the system to be an optimal control system by adjusting the universe in the basis fuzzy controller according to simulation results. The windowed Fourier transform and self convolution were used to design online identification system. The experiment results on the Dongfanghong-LX854 tractor indicated that the variable universe fuzzy controller was better than the invariable universe fuzzy controller. The measured 20° step response indicated that the regulation time was 2s, the largest steady error was 0.18°, and the response without steady state oscillation. The measured sine response showed that the average delay was 0.3s. The variable universe fuzzy control system lays a foundation for 2BFQ-6 precision planter navigation.