拖拉机液压机械式变速器小波神经网络PID控制  

Speed control method of tractor HMT based on wavelet neural network PID algorithm

作　　者：滑杨莹 夏光 唐希雯 汪韶杰 HUA Yangying;XIA Guang;TANG Xiwen;WANG Shaojie(Institute of Automobile Engineering Technology,Hefei University of Technology,Hefei 230009,China;School of Automobile and Traffic Engineering,Hefei University of Technology,Hefei 230009,China;School of Radar Confrontation,National University of Defense Technology,Hefei 230037,China)

机构地区：[1]合肥工业大学汽车工程技术研究院,安徽合肥230009 [2]合肥工业大学汽车与交通工程学院,安徽合肥230009 [3]国防科技大学电子对抗学院,安徽合肥230037

出　　处：《合肥工业大学学报（自然科学版）》2020年第1期26-30,107,共6页Journal of Hefei University of Technology：Natural Science

基　　金：国家重点研发计划资助项目(2016YFD0700604;2016YFD0700605);国家自然科学基金资助项目(51875151);安徽省重大专项资助项目(2017030701043);安徽省重点研发计划资助项目(1804a09020017)

摘　　要：为提高装有液压机械式变速器(hydraulic-mechanical transmission,HMT)拖拉机的行驶平稳性,使拖拉机能以目标车速稳定行驶从而提高拖拉机的作业质量,文章对装备HMT拖拉机的小波神经网络PID控制进行了研究。通过Matlab/Simulink建立液压机械传动系统模型、拖拉机动力学模型及小波神经网络PID控制模型,根据拖拉机目标车速、实际车速及其误差,通过小波神经网络对PID控制参数进行在线整定,使实际车速有效追踪目标车速。将小波神经网络PID控制与常规PID控制进行比较,验证了小波神经网络PID控制方法可以使拖拉机始终稳定在目标车速进行作业,避免了因车速变化对作业质量的影响,提高了拖拉机的行驶平顺性和作业质量。In order to improve the driving performance of the tractor equipped with hydraulic-mechanical transmission(HMT),and to guarantee the HMT speed tracking the target speed in real time,we proposed a HMT speed control method based on wavelet neural network PID algorithm.The hydraulic-mechanical transmission system model,dynamic model of tractor and wavelet neural network PID control model were established using the Matlab/Simulink.According to the target speed,the actual speed and the error,we took advantage of the self-learning ability and the weight adjustment of wavelet neural network to adjust PID control parameters online,so the actual speed of tractor could be controlled effectively tracking the target speed.The wavelet neural network PID controller was compared with the conventional PID controller.The simulation results verify that the wavelet neural network PID controller can make the tractor work steadily at the target speed,avoiding the influence of the speed change on the quality of operation,and improving the driving stability and quality of operation.

关 键 词：液压机械式变速器(HMT) 拖拉机作业 小波神经网络 PID控制 

分 类 号：U463.221.2[机械工程—车辆工程]