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.
ZHANG Yan,LI Yanming,LIU Xiangpeng,TAO Jianfeng,LIU Chenglian,LI Ruichuan.Fuzzy Adaptive Control Method for Autonomous Rice Seeder[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(10):30-37.
摘要点击次数: 187
全文下载次数: 122
水稻直播机自动驾驶模糊自适应控制方法   [下载全文]
Fuzzy Adaptive Control Method for Autonomous Rice Seeder   [Download Pdf][in English]
投稿时间:2018-04-03  
DOI:10.6041/j.issn.1000-1298.2018.10.004
中文关键词:  水稻直播机  模糊控制  最优控制  稳定性
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)
作者单位
张雁 上海交通大学 
李彦明 上海交通大学 
刘翔鹏 上海交通大学 
陶建峰 上海交通大学 
刘成良 上海交通大学 
李瑞川 山东五征集团 
中文摘要: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0.021m,水田直线跟踪平均绝对偏差小于0.040m,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。
ZHANG Yan  LI Yanming  LIU Xiangpeng  TAO Jianfeng  LIU Chenglian  LI Ruichuan
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.
Key Words:rice seeder  fuzzy control  optimum control  stability
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.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

   下载PDF阅读器