拖拉机自动转向操纵控制器试验与仿真研究

摘要

The pros and cons of steering controller performs effect determines the navigation accuracy and stability of the vehicle work .In this paper , the existing steering control platform is tested with the method of experiments and simulation study .We developed a dual channel coefficient determination test , as well as the proportional coefficient of determination test and differential coefficient of determination test .The purpose is to enhance the performance of the controller from the angle of the software .Model of the controlled object is built , Stepper motor nonlinear SIMULINK simulation model is es-tablished , fuzzy PID controller is proposed , step motor fuzzy PID simulation is Realized .Providing new ideas of impro-ving the navigation precision of manipulation controller .%转向操纵控制器执行效果的优劣决定了导航车辆工作的准确性和稳定性。为此，以开展试验测试和仿真研究的方法，对现有的转向控制平台进行试验测试，开发了双通道系数测定试验、比例系数测定试验和微分系数测定试验，目的是从软件的角度提升整个控制器的性能。同时，针对系统的被控对象进行建模，建立步进电机非线性SIMULINK 仿真模型，并在此基础上提出了模糊 PID 控制器的构建思路，实现了步进电机模糊 PID 仿真。该研究为提高导航操纵控制器精度提供了思路。