同济大学学报（自然科学版）2017，Vol.45Issue(12)：1830-1838,9.DOI:10.11908/j.issn.0253-374x.2017.12.013
基于模糊算法的无人驾驶压路机自动碾压控制
Automatic Rolling Control for Unmanned Vibratory Roller Based on Fuzzy Algorithm
摘要
Abstract
A path following control method based on fuzzy algorithm was proposed to improve the unmanned vibratory roller's operation quality that was influenced by the path following error during automatic vibration rolling.The kinematic model of the vibratory roller as well as the hydraulic power steering model was developed.The heading following algorithm based on the look-ahead scheme and the fuzzy proportion-integral-derivative (PID) controller was designed to control the automatic rolling error.The simulation of the path following control model and the field automatically rolling experiments verified the control performances of the automatic rolling for the unmanned vibratory roller.The results show that the heading following fuzzy PID control algorithm based on the look-ahead scheme has better control performances than the conventional PID algorithm and prove the effectiveness and superiority of the fuzzy control algorithm in the unmanned vibration rolling.关键词
无人驾驶振动压路机/铰接液压转向/基于预瞄的航向跟踪/模糊比例-积分-微分(PID)控制Key words
unmanned vibratory roller/articulated hydraulic steering/heading following based on look-ahead scheme/fuzzy proportion-integral-derivative (PID) control分类
信息技术与安全科学引用本文复制引用
卞永明,方晓骏,杨濛,赵柱..基于模糊算法的无人驾驶压路机自动碾压控制[J].同济大学学报（自然科学版）,2017,45(12):1830-1838,9.基金项目
中央高校基本科研业务费专项资金 （）
