基于干扰观测器和改进模糊PID的农用车辆路径跟踪控制策略  

Control strategy of agricultural vehicle path tracking based on interference observer and improved fuzzy PID

作　　者：杨子兵 周军[1,2,3] 孙永佳 皇攀凌[1,2,3] 郭凤江 陈希源 李明明 YANG Zibing;ZHOU Jun;SUN Yongjia;HUANG Panling;GUO Fengjiang;CHEN Xiyuan;LI Mingming(School of Mechanical Engineering,Shandong University,Jinan 250061,China;Key Laboratory of High Efficiency and Clean Mechanical Manufacture,Ministry of Education,Shandong University,Jinan 250061,China;National Experimental Teaching Demonstration Center of Mechanical Engineering,Shandong University,Jinan 250061,China;Shandong Academy of Agricultural Machinery Sciences,Jinan 250100,China;Shandong Huasheng Pesticide Machinery Co.,Ltd.,Linyi 276000,China)

机构地区：[1]山东大学机械工程学院,济南250061 [2]山东大学高效洁净机械制造教育部重点实验室,济南250061 [3]山东大学机械工程国家级实验教学示范中心,济南250061 [4]山东省农业机械科学研究院,济南250100 [5]山东华盛农业药械有限责任公司,临沂276000

出　　处：《现代制造工程》2022年第1期52-60,共9页Modern Manufacturing Engineering

基　　金：山东省重点研发计划项目(2019JZZY020615,2019JZZY020616,2018CXGC0215,2019JZZY010732)。

摘　　要：为减少外界干扰对农用车辆路径跟踪精度的影响,提高路径跟踪系统的鲁棒性,提出了一种基于干扰观测器和改进模糊PID算法的农用车辆路径跟踪控制策略。在建立农用车辆四轮转向运动学模型的基础上,建立路径跟踪数学模型,通过对模糊PID算法的比例、积分部分进行改进和加入基于干扰主动控制的干扰观测器提高控制策略的抗干扰能力;在MATLAB软件的Simulink仿真平台对所设计的控制策略进行有效性验证。仿真结果表明,与传统PID控制方法相比,所设计的控制策略可以成功消除外界干扰,能有效地加快响应速度,提高自适应能力,有利于农用车辆路径跟踪精度的提高。In order to reduce the influence of external interference on the path tracking accuracy of agricultural vehicles and improve the robustness of the path tracking system,a path tracking control strategy of agricultural vehicles based on interference observer and improved fuzzy PID algorithm was proposed.Based on the establishment of the four-wheel steering kinematics model of agricultural vehicles,a mathematical model of path tracking was established,the anti-interference ability of the control strategy was improved by improving the proportional and integral parts of the fuzzy PID algorithm and adding an interference observer based on interference active control.The effectiveness of the control strategy was verified on the Simulink simulation platform of MATLAB software.The simulation results show that compared with the traditional PID control method,the control strategy can successfully eliminate external interference,effectively accelerate the response speed,and improve the adaptive ability.It is conducive to the improvement of the path tracking accuracy of agricultural vehicles.

关 键 词：农用车辆 路径跟踪 干扰观测器 模糊PID 控制策略 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]