摘要
针对装载机转向系统转向阻力及输入流量变化范围大、非线性严重的特点,应用模糊控制理论,对系统所处的不同状态实现PID参数的在线整定。详细介绍了线控转向系统的组成,控制系统的数学模型,模糊控制器的设计过程及控制规则,并对其进行了仿真与实验。结果表明:采用模糊自整定PID控制器后,系统的响应时间变快,频带变宽,抗干扰能力增强,可以满足实际转向系统的需要。
Taking a wheel loader steering by wire system as the object aiming at the features of the system,i, e. , the big variation ranges of the steering resistance and the input flow, and its serious non-linearity, the on-line self-tuning of the parameters of the PID controller was achieved for the different conditions of the systems by means of the fuzzy control theory. The structure of the steering by wire system, the mathematical model of the control system, the design process of the fuzzy controller and its control rules were introduced in detail. Both the simulated and tested results show that introduction of the fuzzy sell-tuning PID controller results in speeding up the system response, widening the frequency band, enhancing the anti-jamming ability, being able to satisfy the requirement of the actual steering systems.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2008年第1期21-26,共6页
Journal of Jilin University:Engineering and Technology Edition
基金
“863”国家高技术研究发展规划项目(2003AA430110)
关键词
专用机械工程
装载机
线控转向
模糊控制
自整定
special-use machinery and engineering
wheel loader
steer by wire
fuzzy control
self-tuning
