一种拖拉机自动驾驶神经网络自调整因子模糊控制方法的研究

Study on Fuzzy Control Technique with Nerve Network Self-adjustive Factor of Tractor Automatic Steering

主要论述拖拉机自动驾驶的驾驶原理,建立了拖拉机自动驾驶横向控制的力学模型,提出了自调整因子函数,设计了一种用于拖拉机自动驾驶的神经网络自调整因子模糊控制方法,用simulink对这种控制方法进行了仿真验证,结果表明,所提出的方法和规则用于拖拉机自动驾驶是可行的。

This paper mostly introduces operating principle of autonomous tractor, then tractor automatic steering dynamic model is set up and the equation of self-adjusting function was established and its parameter was determined so as to set up multi-training samples to train the nerve networks, in addition a fuzzy control technique with self-adjustive factor is designed, which is evaluated by using simulink software. The result reveals that the complex fuzzy control technique produces the behaviours which are very similar to driver, and proposed the mothods and regulation are suitable for tractor automatic steering system.