摘要
【目的】对拖拉机转向跟踪控制进行研究,寻求提高转向跟踪控制精度的方法。【方法】以福田欧豹4040型拖拉机为研究对象,以车辆航向角偏差和前轮转角为输入变量,转向驱动电机转速为输出变量,设计车辆转向控制模糊控制器,并用于拖拉机航向角的控制。【结果】拖拉机以0.53 m/s的速度行驶时,航向角偏差可控制在1°以内;拖拉机在50 m行驶距离内,最大横向偏差为0.16 m。【结论】所设计的控制器能够满足拖拉机转向跟踪控制的要求。
[Objective] The heading-following control system of FOTON-4040 tractor was studied for improving the performance of heading-following control. [Method] A fuzzy controller was developed for steering control. The orientation deviation and steering angle of front-wheels were used as the input parameters of the controller. The output parameter of the controller was the rate of the steering motor. [Result] The orientation error was less than 1° at the speed of 0.53 m/s,and the deviation of lateral offset was less than 0.16 m within the driving distance of 50 m. [Conclusion] The designed fuzzy controller can satisfy the demand of heading-following control.
出处
《西北农林科技大学学报（自然科学版）》
CSCD
北大核心
2009年第9期224-228,共5页
Journal of Northwest A&F University(Natural Science Edition)
基金
西北农林科技大学青年学术骨干支持计划项目(01140301)
关键词
拖拉机
模糊控制
航向跟踪
tractor
fuzzy control
heading-following
