中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 信息服务与智能控制技术研究室  > 期刊论文
题名:
以角速度为转向动作反馈的拖拉机自动导航控制系统
其他题名: Navigation Control System for a Tractor which Used Angular Velocity as the Steering Feedback
作者: 高雷 ; 胡静涛 ; 李逃昌 ; 刘晓光
作者部门: 信息服务与智能控制技术研究室
关键词: 拖拉机 ; 角速度计 ; 转向控制 ; 自动导航 ; 串级控制
刊名: 农机化研究
ISSN号: 1003-188X
出版日期: 2015
期号: 3, 页码:25-29
产权排序: 1
摘要: 针对传统农机导航控制系统中转向角度传感器安装麻烦、可靠性较低的缺点,采用角速度计作为拖拉机转向动作的反馈传感器,结合拖拉机加装的基于CAN总线结构的导航控制装置,设计了串级PID自动导航控制系统,内环PID控制器用于转向控制,外环PID控制器用于路径跟踪控制。由于角速度计噪声误差较大,为避免对角速度的积分运算引起误差持续累积增大,角速度计的测量数据仅直接用作内环PID控制器的反馈;外环PID控制器的控制量也设计为角速度值。因此,在以转向角为控制量的比例控制算法基础上,本文又推导、设计了以角速度为控制量的外环PID控制算法。路面实验结果表明,本文设计的以角速度为转向动作反馈的拖拉机自动导航控制系...
英文摘要: To counter the defects of complex installation and low reliability of steering angle sensor in the conventional agricultural machine navigation control system,an angular velocity meter used as the Foton TA800 tractor steering feedback sensor. Navigation control apparatus connected by CAN bus were mounted on the tractor,based on these apparatus,a cascade PID navigation control system was designed. The inner loop PID controller used for steering control,and the outer loop PID controller used for path tracking control. Because of the comparatively large noise error of the angular velocity meter,integral operation would accumulate the error,to avoid integral operation,the angular velocity only used as the inner PID controller feedback. Correspondingly,angular velocity was chosen as the control variable of the outer PID controller. Accordingly,based on the proportional control algorithm which used steering angle as the control variable,an outer PID control algorithm which used steering angular velocity as the control variable was proposed. The experimental result indicates,the average tracking error of the straight line is 4. 1cm,the maximum tracking error is 12.9cm. Therefore,it is feasible to employ the angular velocity meter as the steering feedback sensor in the agricultural machine navigation control system.
语种: 中文
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/15459
Appears in Collections:信息服务与智能控制技术研究室_期刊论文

Files in This Item:
File Name/ File Size Content Type Version Access License
以角速度为转向动作反馈的拖拉机自动导航控制系统.pdf(269KB)----开放获取View 联系获取全文

Recommended Citation:
高雷,胡静涛,李逃昌,等. 以角速度为转向动作反馈的拖拉机自动导航控制系统[J]. 农机化研究,2015(3):25-29.
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[高雷]'s Articles
[胡静涛]'s Articles
[李逃昌]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[高雷]‘s Articles
[胡静涛]‘s Articles
[李逃昌]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: 以角速度为转向动作反馈的拖拉机自动导航控制系统.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2017  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace