基于模糊PID控制的拖拉机遥控转向系统研究
Tractor Remote Control Steering System Based on Fuzzy PID Control
刘九庆 1丁鹏 1于文吉1
作者信息
- 1. 东北林业大学 机电工程学院,哈尔滨 150040
- 折叠
摘要
由于拖拉机实际作业环境较为恶劣,为保证驾驶员的安全,提出了一种拖拉机遥控转向系统的设计方案.首先,对拖拉机现有的液压转向系统进行了分析,并提出了遥控转向系统的结构设计和控制策略设计;然后,通过AMEsim和Simulink分别搭建了遥控转向系统的液压部分模型和模糊PID控制器并进行了联合仿真实验.实验结果表明:设计的遥控转向系统能够实现拖拉机的转向,模糊PID控制器相对于常规PID控制器的控制效果更好,阶跃响应时间由 1.49 s缩短到 1.07 s,正弦跟踪响应最大误差由 0.028 m缩短到 0.015 m,抗干扰性也更强.
Abstract
In view of the harsh working environment of tractor,in order to ensure the safety of drivers,this paper puted forward a design scheme of remote control steering system for tractor.This paper first analyzed the existing hydraulic steering system of tractor,and on this basis,the structural design and control strategy design of remote steering system were proposed.In the next step,the hydraulic part model and fuzzy PID controller of the remote steering system were built through AMEsim and Simulink,respectively,and joint simulation experiments were carried out.The results showed that the designed remote steering system can realize the steering of tractor.Compared with the conventional PID control-ler,the designed fuzzy PID controller had better control effect,the step response time was shortened from 1.49 s to 1.07 s,the maximum error of sinusoidal tracking response was shortened from 0.028 m to 0.015 m,and the anti-interference was also stronger.
关键词
拖拉机转向/遥控转向系统/模糊PID控制/联合仿真Key words
tractor steering/remote control steering system/fuzzy PID control/co-simulation引用本文复制引用
出版年
2025
国家科技期刊平台
NSTL
万方数据