基于模糊控制的拖拉机路径跟踪仿真研究

摘要

结合拖拉机实际工作性能与环境,建立了一种基于模糊控制的拖拉机路径跟踪仿真系统,分别对简化二轮模型、模糊控制模型、纯追踪模型及转向操纵控制模型等4 个部分进行了阐述. 此外,将模糊控制与纯追踪模型结合,分别对相同横向偏差下、不同航向偏差下前轮转角响应情况和相同航向偏差下、不同横向偏差下前轮转角响应情况进行了Matlab/Simulink 仿真. 仿真结果表明:该仿真系统可靠,具有一定的参考价值.%Combined with environmental effects and performance , simulation model of tractors path tracking based on fuzzy control is established .The model includes kinematics simulation model of two-wheel vehicle ,fuzzy control model , pure pursuit model and a model of steering system .In addition , by combining the fuzzy controller with the pure pursuit model,this paper simulates the response curves of the same lateral error with different heading errors and the same heading error with different lateral errors respectively ,which used Matlab//Simulink.By the model built in Matlab /Simulink ,results of simulation indicate the model is reliable and valuable .