| 水稻直播机自动驾驶模糊自适应控制方法 |
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| 引用本文： | 张雁,李彦明,刘翔鹏,陶建峰,刘成良,李瑞川.水稻直播机自动驾驶模糊自适应控制方法[J].农业机械学报,2018,49(10):30-37. |
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| 作者姓名： | 张雁 李彦明 刘翔鹏 陶建峰 刘成良 李瑞川 |
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| 作者单位： | 上海交通大学机械与动力工程学院;山东五征集团 |
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| 基金项目： | 国家重点研发计划项目（2016YFD0700505）、上海市青年科技英才扬帆计划项目(18YF1411000)和上海市科技兴农推广项目（沪农科推字（2016）第1-6-1号） |
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| 摘 要： | 为了提高在水田等恶劣环境下作业的自主导航水稻直播机的性能,提出了一种利用模糊逻辑推理自适应调整PD控制器参数Kd的最优控制方法。首先根据水稻直播机的运动学模型,建立链式空间状态模型;然后基于链式空间状态模型,设计了PD控制器,并根据现场实验确定了参数Kp、Kd的取值范围,通过仿真得出了Kp和Kd的值,以及两者比值对系统稳定性和响应速度的影响;最后,提出了模糊自适应控制方法。仿真结果表明,相对于固定参数的PD控制器,模糊自适应控制方法超调较小、上线速度更快、稳定性较好。实地实验结果表明,该方法在水泥路面上平均绝对横向偏差小于0.021 m,水田直线跟踪平均绝对偏差小于0.040 m,与传统的PD控制和纯追踪控制相比,能够有效提高自主导航控制系统的稳定性和快速性。
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| 关 键 词： | 水稻直播机 模糊控制 最优控制 稳定性 |
| 收稿时间： | 2018/4/3 0:00:00 |
Fuzzy Adaptive Control Method for Autonomous Rice Seeder |
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| ZHANG Yan,LI Yanming,LIU Xiangpeng,TAO Jianfeng,LIU Chenglian and LI Ruichuan.Fuzzy Adaptive Control Method for Autonomous Rice Seeder[J].Transactions of the Chinese Society of Agricultural Machinery,2018,49(10):30-37. |
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| Authors: | ZHANG Yan LI Yanming LIU Xiangpeng TAO Jianfeng LIU Chenglian and LI Ruichuan |
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| Institution: | Shanghai Jiao Tong University,Shanghai Jiao Tong University,Shanghai Jiao Tong University,Shanghai Jiao Tong University,Shanghai Jiao Tong University and Shandong Wuzheng (Group) Co., Ltd. |
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| Abstract: | In order to improve the performance of autonomous navigation system of direct seeding machine in paddy field and other harsh environments, an optimal control method was proposed. It can adaptively adjust PD control parameters based on fuzzy logic. According to the kinematic model of chain system, the state space model was established. Then, according to the optimal control theory, the PD controller was designed. The range of parameters of Kp was from 0.8 to 2.1 and Kd was from 1.0 to 3.5, which were determined by the field experiment. Finally, the fuzzy adaptive optimal control method was put forward. Simulation result showed that the fuzzy adaptive optimal control method can improve the stability and rapidity compared with the PD controller. The experiment results showed that the mean absolute lateral deviation of the method was less than 0.021m on the cement pavement. And the mean absolute lateral deviation of the method in paddy field was less than 0.040m. The method can effectively improve the stability and rapidity of the autonomous navigation control system compared with PD controller and pure pursuit controller. |
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| Keywords: | rice seeder fuzzy control optimum control stability |
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