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基于自適應(yīng)模糊控制的拖拉機(jī)自動導(dǎo)航系統(tǒng)
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Autonomous Navigation System for Agricultural Tractor Based on Self-adapted Fuzzy Control
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    摘要:

    闡述了一種基于自適應(yīng)模糊控制的拖拉機(jī)自動導(dǎo)航系統(tǒng)。由PLC、電控開關(guān)液壓閥和比例方向液壓閥組成自動轉(zhuǎn)向控制系統(tǒng)，設(shè)計了PD轉(zhuǎn)向控制算法；為提高拖拉機(jī)自動導(dǎo)航的精度和穩(wěn)定性，提出了一種基于遺傳算法的自適應(yīng)模糊控制方法，采用遺傳算法在線優(yōu)化模糊控制規(guī)則以及輸出比例因子，既保留了傳統(tǒng)模糊控制的優(yōu)點，又有效改善了系統(tǒng)的控制品質(zhì)；仿真和田間試驗結(jié)果表明，該方法可以迅速消除跟蹤誤差，響應(yīng)速度快，超調(diào)小，系統(tǒng)工作穩(wěn)定，穩(wěn)態(tài)跟蹤誤差不超過

    Abstract:

    10cm。An autonomous navigation system based on self-adapted fuzzy control for agricultural tractor was proposed. PLC, electro-hydraulic switch valve and proportional directional control valves were used to construct the automatic steering control system based on PD control algorithm. A self-adapted fuzzy control algorithm was proposed, GA was adopted to optimize the fuzzy rules and proportion factor of fuzzy output online. It retained the advantages of conventional fuzzy control, and meanwhile, it improved the performance of autonomous navigation control system. Simulation and field experiment indicated that the proposed navigation control algorithm could eliminate the tracking error effectively with rapid response and small overshoot, the navigation system worked stably, the maximum tracking error was less than 10cm.

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.基于自適應(yīng)模糊控制的拖拉機(jī)自動導(dǎo)航系統(tǒng)[J].農(nóng)業(yè)機(jī)械學(xué)報,2010,41(11):148-152. Autonomous Navigation System for Agricultural Tractor Based on Self-adapted Fuzzy Control[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(11):148-152.

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