基于模糊PID算法的草籽喷播机自动转向控制系统

摘要

针对喷播机转向控制系统中,基于驾驶员经验建立模糊控制器计算期望转向轮偏转角进行控制时,出现调整过量或调节不足,以及在转向控制中应用经典PID控制器时,存在超调量大、调整时间过长等问题,设计输入值加权因子控制器调节模糊控制器输出,并将模糊思想应用到PID参数调节中,对导航系统中转向控制器进行相关研究.结果表明:1)在原控制器不改变的基础上,应用加权因子控制器改变输入值权重,调节控制器输出,实现对模糊控制器的优化;2)将模糊原理应用到PID参数调整,根据输入值大小对PID参数进行优化,超调量减少了20％～50％,加快了响应速度;3)对于恒速液压转向系统,转向响应速度与转角大小成正比.%In steering control system,the fuzzy controller based on the driver's experience calculating the expected steering wheel deflection angle causes the problems of excessive or insufficient adjustment phenomenon.And there are also problems of oversize large adjustment and long adjustment time when the classical PID controller is used in the steering control.By using design input value weighting factor controller to adjust the fuzzy controller output,and applying the fuzzy thought into the PID parameter adjustment,research on the steering controller in the navigation system is conducted.The results showed that:1) Based on the original controller,the weighting controller is used to change the input weight and adjust the controller output to realize the optimization of the fuzzy controller.2) By applying the fuzzy principle to the PID parameter adjustment,the value of the size of the PID parameters is optimized.The overshoot is reduced by 20％ to 50％,which speeds up the response;3) For a constant speed hydraulic steering system,the steering response speed is proportional to the size of the corner.