A fuzzy PID control method of path tracking for agricultural machinery based on preview model
To improve path tracking control performance of agricultural machinery,a fuzzy PID control method based on preview mod-el was put forward.Initially,the PID control law of path tracking for agricultural machinery was constructed by taking deviation of pre-view heading angle in preview model as input and front wheel rotation angle as output.Then,deviation of preview heading angle was in-corporated into agricultural machinery kinematics model as target value of heading angle change.Baseline value of front wheel angle which could adapt to speed change was obtained,and proportional part of PID control law was replaced by baseline value.Ultimately,fuzzy logic was employed to set PID control parameters in real time.Effectiveness of proposed method was confirmed through joint sim-ulations carried out on CarSim and Simulink platform.Test results demonstrated that,once operating speed of agricultural machinery was 1.5,2.0 and 3.0 m/s,respectively,average online time was 10.85,8.35 and 5.15 s,when initial lateral deviation was 3 m.In comparison to traditional preview control,this method effectively could improve response speed of system while ensuring tracking accuracy.
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