基于模糊PD的移动式喷灌机转向交叉耦合控制研究

Research on Steering Cross-coupling Control of Mobile Sprinkler Machine Based on Fuzzy PD Method

针对移动式喷灌机前轮独立转向的同步控制问题,在对单侧前轮进行PID控制的基础上,基于Ackermann转向模型和单轮跟随误差推导出轮间的轮廓误差,并以轮廓误差为控制目标提出了基于模糊PD的交叉耦合控制方法,对前轮进行实时补偿。模型仿真和试验结果表明,该方法能在保证前轮角度跟踪精度的基础上,快速消除轮间轮廓误差,响应速度快,超调量小,具有较高的同步控制精度。该研究对独立转向农业机械的转向同步控制有一定的实际意义。

In order to solve the synchronous control problem in the front wheel independent steering system of mobile sprinkler machine,the cross-coupling control method based on fuzzy PD is proposed to reduce contour error,which is estimated on the basis of the following error in single wheel PID control and Ackermann principle. The method can compensate the front wheels in real time according to the contour error.Simulation and experimental results showed that the control algorithm can quickly eliminate the contour error between wheels based on a high precision of angle tracking in front wheels. The system has a fast response speed,a small overshoot and a high synchronization control precision. This study has some practical significance for the steering synchronous control of the independent steering agricultural machinery.