基于模糊PID的路径跟踪控制系统
Path Tracking Control System Based on Fuzzy PID

DOI: 10.12677/CSA.2020.103055, PP. 529-540

Keywords: 插秧机，自动导航，路径跟踪，模糊PID
Transplanter, Automatic Navigation, Path Tracking, Fuzzy PID

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Abstract:

为提高自动导航插秧机路径跟踪控制系统性能，提出一种基于模糊PID算法调整插秧机前轮转向角度的控制方法。该方法首先建立被控对象的运动学模型，根据运动学模型对模糊PID控制算法进行设计。其次运用Matlab对路径跟踪控制系统进行仿真分析，仿真结果表明：所设计模糊PID控制方法相比于传统PID控制方法，可以有效减少系统的超调量和到达稳态的时间。最后进行动态试验验证，传统PID控制方法下，小车底盘以0.35和0.85 m/s的速度行驶时，最大路径跟踪误差为3.8和6.5 cm，平均路径跟踪误差为2.47和3.67 cm；在模糊PID控制方法下，小车底盘以0.35和0.85 m/s的速度行驶时，最大路径跟踪误差为2.1和4.8 cm，平均路径跟踪误差为1.57和2.7 cm；试验表明：模糊PID控制性能优于传统PID算法，更适合于插秧机路径跟踪控制。
In order to improve the performance of the path tracking control system of the automatic naviga-tion transplanter, a control method based on the fuzzy PID algorithm to adjust the steering angle of the front wheel of the transplanter is proposed. Firstly, the kinematic model of the controlled object is established, and the fuzzy PID control algorithm is designed according to the kinematic model. Secondly, Matlab is used to simulate the path tracking control system. The results show that the performance of the fuzzy PID control method is better than the traditional PID control method, which can effectively reduce the overshoot of the system and the time to reach the steady state. Finally, the dynamic test is carried out to verify that under the traditional PID control method, the maximum path tracking error is 3.8 and 6.5 cm, and the average path tracking error is 2.47 and 3.67 cm when the car chassis is running at the speed of 0.35 and 0.85 m/s; under the fuzzy PID control method, the maximum path tracking error is 2.1 and 4.8cm, and the average path tracking error is 1.57 and 2.7 cm when the car chassis is running at the speed of 0.35 and 0.85m/s. The experiment shows that the performance of fuzzy PID control is better than that of traditional PID algorithm, and it is more suitable for path tracking control of transplanter.

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