| 摘要: |
| 【目的】 对拖拉机转向跟踪控制进行研究，寻求提高转向跟踪控制精度的方法。【方法】 以福田欧豹4040型拖拉机为研究对象，以车辆航向角偏差和前轮转角为输入变量，转向驱动电机转速为输出变量，设计车辆转向控制模糊控制器，并用于拖拉机航向角的控制。【结果】 拖拉机以0.53 m/s的速度行驶时，航向角偏差可控制在1°以内；拖拉机在50 m行驶距离内，最大横向偏差为0.16 m。【结论】 所设计的控制器能够满足拖拉机转向跟踪控制的要求。 |
| 关键词: 拖拉机 模糊控制 航向跟踪 |
| DOI： |
| 分类号: |
| 基金项目:西北农林科技大学青年学术骨干支持计划项目 （01140301） |
|
| Heading following control of tractor based on Fuzzy control |
|
|
| Abstract: |
| 【Objective】 The heading following control system of FOTON 4040 tractor was studied for improving the performance of heading following control. 【Method】 A fuzzy controller was developed for steering control.The orientation deviation and steering angle of front wheels were used as the input parameters of the controller. The output parameter of the controller was the rate of the steering motor. 【Result】 The orientation error was less than 1° at the speed of 0.53 m/s,and the deviation of lateral offset was less than 0.16 m within the driving distance of 50 m. 【Conclusion】 The designed fuzzy controller can satisfy the demand of heading following control. |
| Key words: tractor fuzzy control heading following |
