基于自适应模糊控制的拖拉机自动导航系统  

Autonomous Navigation System for Agricultural Tractor Based on Self-adapted Fuzzy Control

作　　者：刘兆祥[1] 刘刚[1] 籍颖[1,2] 张漫[1] 孟志军[3] 付卫强[3] 

机构地区：[1]中国农业大学现代精细农业系统集成研究教育部重点实验室,北京100083 [2]河北农业大学信息科学与技术学院,保定071000 [3]国家农业信息化工程技术研究中心,北京100097

出　　处：《农业机械学报》2010年第11期148-152,162,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(30900869);国家"863"高技术研究发展计划资助项目(2006AA10A304)

摘　　要：阐述了一种基于自适应模糊控制的拖拉机自动导航系统。由PLC、电控开关液压阀和比例方向液压阀组成自动转向控制系统,设计了PD转向控制算法;为提高拖拉机自动导航的精度和稳定性,提出了一种基于遗传算法的自适应模糊控制方法,采用遗传算法在线优化模糊控制规则以及输出比例因子,既保留了传统模糊控制的优点,又有效改善了系统的控制品质;仿真和田间试验结果表明,该方法可以迅速消除跟踪误差,响应速度快,超调小,系统工作稳定,稳态跟踪误差不超过10 cm。An autonomous navigation system based on self-adapted fuzzy control for agricultural tractor was proposed.PLC,electro-hydraulic switch valve and proportional directional control valves were used to construct the automatic steering control system based on PD control algorithm.A self-adapted fuzzy control algorithm was proposed,GA was adopted to optimize the fuzzy rules and proportion factor of fuzzy output online.It retained the advantages of conventional fuzzy control, and meanwhile,it improved the performance of autonomous navigation control system.Simulation and field experiment indicated that the proposed navigation control algorithm could eliminate the tracking error effectively with rapid response and small overshoot,the navigation system worked stably,the maximum tracking error was less than 10 cm.

关 键 词：拖拉机 模糊控制 遗传算法 自动导航 自适应控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]