测控技术2017，Vol.36Issue(5)：61-65,5.
基于力矩信息的拖拉机转向动态PID控制方法
Control Method of Tractor Steering System Dynamic PID Based on Torque Information
摘要
Abstract
According to the characteristics that the steering damping existing in the agricultural tractor steering process is time-varying and nonlinear,in order to improve the control performance of steering system,a tractor steering torque measurement and motor control system based on the torque information is designed,which consists of a torque sensor,a STM32 processor,an industrial PC,a DC motor and drives,etc.Firstly,the optimal PID control parameters of different torque are studied through the simulation,and the parameter rules are given.Then the wheel motor is controlled by the PID that is adjusted through torque model using the detected torque sensor signal.The simulation and experiment results show that the dynamic PID steering control method of tractor based on the torque signal feedback can effectively control the direction of the tractor,which has fast response,small overshoot,and strong adaptability.关键词
拖拉机驾驶机器人/STM32/力矩/测控系统/动态PIDKey words
tractor-robot driver/STM32/torque/monitoring system/dynamic PID分类
信息技术与安全科学引用本文复制引用
殷越,赵亚玲,卢伟..基于力矩信息的拖拉机转向动态PID控制方法[J].测控技术,2017,36(5):61-65,5.基金项目
国家自然科学基金青年基金项目(61401215) （61401215）
江苏省自然科学基金项目(BK20130696) （BK20130696）
中央高校基本科研业务经费专项资金项目(KYZ201427) （KYZ201427）
