摘要
为减少对人工驾驶的依赖和提高作业质量、实现拖拉机自动转向,提出一种基于IMC-PID的拖拉机前轮转角自动控制系统,阐述系统整体结构,介绍系统的组成、工作原理和硬件设计方案。通过分析拖拉机自动转向系统的需求和整体控制策略,基于转向系统模型设计拖拉机前轮转角控制器,详细阐述IMC-PID转角控制算法的设计过程,应用Matlab/Simulink工具箱搭建仿真模型验证算法的可行性,并结合双力704型拖拉机进行实车试验。仿真试验和实测结果表明:所设计的控制系统信号跟踪的最大误差为1°,平均误差为0.4°,响应时间小于0.2 s;在模型误差20%时,系统仍保持良好的跟踪性能和抗扰动性。研究表明:前轮转角自动控制系统具有较好的动态响应和良好的跟踪效果,能基本满足田间导航的作业需求。
In order to reduce the dependence on manual driving, improve the operation quality and realize the automatic steering of the tractor, an automatic control system of the front wheel angle of the tractor based on IMC-PID was proposed. The overall structure and the composition, operating principle and hardware design scheme of the system were introduced. A tractor guide wheel steering angle controller was designed based on the steering system model, and the design process of IMC-PID steering angle control algorithm was described in detail after analyzing the demand and the overall control strategy of tractor automatic steering system. The simulation model was established based on Matlab/Simulink toolbox and the SL704 tractor was carried out to verify the feasibility of designed algorithm. The simulation experiments and real vehicle test shows that maximal error of the designed control system was controlled within 1°, the average error was kept in 0.4°, and the response time was reduced by 0.2 s. The system could maintain good ability of tracking and rejected disturbance when model error reach 20%. The research indicates that automatic control system of guide wheel angle has better dynamic response and favorable tracking effect, which can meet operational requirements of the field navigation.
作者
王守瑞
尹成强
苗河泉
Wang Shourui;Yin Chengqiang;Miao Hequan(School of Mechanical and Automobile Engineering,Liaocheng University,Liaocheng,252000,China)
出处
《中国农机化学报》
北大核心
2019年第9期126-130,共5页
Journal of Chinese Agricultural Mechanization
基金
山东省重点研发计划项目(2016GNC112014)
关键词
拖拉机
自动转向
前轮转角
内模控制
agricultural tractor
automatic steering
steering angle of guide wheel
internal model control
