摘要
自动转向是拖拉机自主导航的关键技术之一。为实现自动转向,提出了拖拉机虚拟转向角估计方案,设计了拖拉机自动转向的油路和接口电路,并针对该油路和接口电路,设计了基于模糊算法的转向控制器,最后进行了正弦信号跟踪试验。试验结果表明,当给定正弦信号幅值为20°、周期为12s时,拖拉机实际转向角能够跟随输入信号的变化而变化,信号平均延时0.75s。
Automatic steering is the key navigation technology for tractor.In order to implement automatic steering,a process for estimating virtual steering angle was brought up,and the oil-way and interface circuit were designed.Meanwhile,a steering controller based on fuzzy method for the oil-way and circuit was designed and tested by sine signal tracking.The real steering angle could change with the input signal and the average delay time was 0.75 s when the given sine signal amplitude was 20° and period was 12 s.
出处
《中国农机化学报》
北大核心
2014年第6期135-137,156,共4页
Journal of Chinese Agricultural Mechanization
基金
国家自然科学基金资助项目(31401291)
江苏省自然科学基金资助项目(BK20140729)
南京农业大学科研启动基金项目(6240603)
关键词
拖拉机
模糊算法
自动转向
导航
tractor
fuzzy method
automatic steering
navigation
