农业机器的模糊逻辑控制导航

Guidance of Agricultural Vehicle by Means of Fuzzy Logic Control

介绍了一台试验车控制系统的构造 ,设计了一个以实现收获机械自动引导行走为目标的模糊逻辑控制器。试验表明 ,这一控制器具有抗来自断续、不匀称引导基准的噪声干扰的能力 。

Fuzzy logic controllers excel in dealing with imprecise and varying conditions, which characterizes agricultural environment. This paper describes the construction of the experimental vehicle powered by a diesel engine and the computer hardware of the automatic guiding system consisting of VME bus system and CAN network. A fuzzy logic controller was designed according to the requirements of harvesting machine when following crop cutting edges. The heading and offset errors of the vehicle were detected by two contact sensors. The field tests were carried out on three plots of hedgerows. The results showed that the controller could tolerate the frequent and small noise derived from uneven and discrete directrixes, and guide the vehicle following both straight and curved hedgerow accurately. The standard deviation of the vehicle lateral position control was 2 23 cm when following the relatively neater hedgerow edge. It is concluded that this control accuracy would be sufficient for a combine harvester, and the fuzzy logic controller could compensate the inherent inaccuracy of the contact sensors.