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拖拉機(jī)液壓轉(zhuǎn)向變論域模糊控制器設(shè)計(jì)與試驗(yàn)
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國家油菜產(chǎn)業(yè)技術(shù)體系專項(xiàng)資助項(xiàng)目（CARS-13）和中央高校基本科研業(yè)務(wù)費(fèi)專項(xiàng)資金資助項(xiàng)目(2013PY033)


Variable Universe Fuzzy Controller for Tractor Hydraulic Steering
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    2BFQ-6型油菜精量聯(lián)合直播機(jī)田間自動(dòng)對行作業(yè)時(shí),，東方紅-LX854型拖拉機(jī)為其配套動(dòng)力,，實(shí)現(xiàn)導(dǎo)航功能,，針對導(dǎo)航執(zhí)行機(jī)構(gòu)——電控全液壓轉(zhuǎn)向系統(tǒng)導(dǎo)航作業(yè)時(shí)轉(zhuǎn)向控制穩(wěn)定性和準(zhǔn)確性差的問題,，設(shè)計(jì)了自適應(yīng)變論域模糊控制器。應(yīng)用旋升優(yōu)選法對模糊控制器參數(shù)仿真分析,，獲得了不同波形,、幅值和周期激勵(lì)信號下的最優(yōu)參數(shù)組合，運(yùn)用窗口Fourier變換和自卷積法設(shè)計(jì)了響應(yīng)類型的實(shí)時(shí)識別方法,，依據(jù)識別的結(jié)果和仿真尋優(yōu)獲得的參數(shù)優(yōu)化基礎(chǔ)模糊器規(guī)則的論域,。在拖拉機(jī)電控全液壓轉(zhuǎn)向系統(tǒng)上試驗(yàn)結(jié)果表明：變論域模糊控制器對轉(zhuǎn)向20°的階躍響應(yīng)的調(diào)節(jié)時(shí)間為2s，平均穩(wěn)態(tài)誤差為0.18°,，無穩(wěn)態(tài)振蕩現(xiàn)象,；跟蹤正弦信號平均延時(shí)為0.3s；與定論域模糊控制器相比獲得了更好的轉(zhuǎn)向性能,。

    Abstract:

    Variable universe fuzzy controller was designed for guaranteeing the quality of full hydraulic steering control on Dongfanghong-LX854 tractor. The basis fuzzy controller was designed according to the characteristics of the system. The optimal basis fuzzy control parameters under different waveforms and amplitude excitation signals were obtained by using rotation up optimization method in Simulink software. The adaptive fuzzy controller parameter turning changed the system to be an optimal control system by adjusting the universe in the basis fuzzy controller according to simulation results. The windowed Fourier transform and self convolution were used to design online identification system. The experiment results on the Dongfanghong-LX854 tractor indicated that the variable universe fuzzy controller was better than the invariable universe fuzzy controller. The measured 20° step response indicated that the regulation time was 2s, the largest steady error was 0.18°, and the response without steady state oscillation. The measured sine response showed that the average delay was 0.3s. The variable universe fuzzy control system lays a foundation for 2BFQ-6 precision planter navigation.

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張聞?dòng)?丁幼春,廖慶喜,段 濤.拖拉機(jī)液壓轉(zhuǎn)向變論域模糊控制器設(shè)計(jì)與試驗(yàn)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2015,46(3):43-50. Zhang Wenyu, Ding Youchun, Liao Qingxi, Duan Tao. Variable Universe Fuzzy Controller for Tractor Hydraulic Steering[J]. Transactions of the Chinese Society for Agricultural Machinery,2015,46(3):43-50.

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  • 收稿日期:2014-11-03
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  • 在線發(fā)布日期: 2015-03-10
  • 出版日期: 2015-03-10
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