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農(nóng)用機(jī)器人轉(zhuǎn)向系統(tǒng)自適應(yīng)內(nèi)模控制
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安徽省國(guó)際科技合作計(jì)劃資助項(xiàng)目(10080703029),、安徽農(nóng)業(yè)大學(xué)引進(jìn)和穩(wěn)定人才基金資助項(xiàng)目和安徽省教育廳自然科學(xué)研究資助項(xiàng)目(KJ2007B080)


Adaptive Internal Model Control for Agricultural Robot Steering System
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    摘要:

    針對(duì)農(nóng)用機(jī)器人轉(zhuǎn)向系統(tǒng)狀態(tài)和控制具有復(fù)雜,、時(shí)滯和增益時(shí)變的特性，將Adaline神經(jīng)網(wǎng)絡(luò)(ANN)與內(nèi)?？刂葡嘟Y(jié)合,，提出一種在線調(diào)整時(shí)滯時(shí)間和控制增益的自適應(yīng)控制方法。建立基于Adaline網(wǎng)絡(luò)的增益與時(shí)滯的辨識(shí)算法,，即通過反饋誤差在線優(yōu)化,，適應(yīng)性地調(diào)整時(shí)滯時(shí)間和增益，克服參數(shù)時(shí)變對(duì)內(nèi)?？刂坪捅豢貙?duì)象模型的影響,。仿真和試驗(yàn)結(jié)果表明,與常規(guī)的PID控制方法相比,該方法具有較高的控制精度、較強(qiáng)的自適應(yīng)性和魯棒性,完全適用于農(nóng)用機(jī)器人轉(zhuǎn)向系統(tǒng)的控制,。

    Abstract:

    Aiming at the characteristics of complex, time-delay and gain time-variation of agricultural robot steering system, the Adaline neural network (ANN) was applied to internal model control (IMC). An adaptive- control method for time-delay online adjusting and gain control was proposed. An algorithm based on Adaline neural networks could adjust time-delay and gain adaptively, and overcome effects of time-variation parameters on IMC and plant model by online optimizing feedback error. Simulations and experimental results verified that compared to conventional PID control method, the proposed control method possessed the advantage of high precision, great adaptability and robustness, so it is feasible for agricultural robot steering system.

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焦俊,江朝暉,金瑞春,許正榮,劉波.農(nóng)用機(jī)器人轉(zhuǎn)向系統(tǒng)自適應(yīng)內(nèi)?？刂芠J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2011,42(10):186-191,234. Jiao Jun, Jiang Chaohui,Jin Ruichun,Xu Zhengrong, Liu Bo. Adaptive Internal Model Control for Agricultural Robot Steering System[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(10):186-191,234.

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