中国农业大学学报2018，Vol.23Issue(4)：137-147,11.DOI:10.11841/j.issn.1007-4333.2018.04.17
基于模糊PID算法的草籽喷播机自动转向控制系统
Research on the automatic steering control system of grass seed spraying seeding-machine based on fuzzy PID algorithm
摘要
Abstract
In steering control system,the fuzzy controller based on the driver's experience calculating the expected steering wheel deflection angle causes the problems of excessive or insufficient adjustment phenomenon.And there are also problems of oversize large adjustment and long adjustment time when the classical PID controller is used in the steering control.By using design input value weighting factor controller to adjust the fuzzy controller output,and applying the fuzzy thought into the PID parameter adjustment,research on the steering controller in the navigation system is conducted.The results showed that:1) Based on the original controller,the weighting controller is used to change the input weight and adjust the controller output to realize the optimization of the fuzzy controller.2) By applying the fuzzy principle to the PID parameter adjustment,the value of the size of the PID parameters is optimized.The overshoot is reduced by 20％ to 50％,which speeds up the response;3) For a constant speed hydraulic steering system,the steering response speed is proportional to the size of the corner.关键词
喷播机/转向系统/模糊PID/加权因子/参数优化Key words
spraying seeding-machine/steering system/fuzzy PID/weighting factor/parameters optimization分类
信息技术与安全科学引用本文复制引用
陈燕,陈智,侯占峰,弭龙凯,邵志威,孟庆鹏..基于模糊PID算法的草籽喷播机自动转向控制系统[J].中国农业大学学报,2018,23(4):137-147,11.基金项目
国家自然科学基金(41361058 （）
41661058) （）
