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農(nóng)用機器人轉(zhuǎn)向系統(tǒng)自適應內(nèi)?？刂?/div>
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安徽省國際科技合作計劃資助項目(10080703029),、安徽農(nóng)業(yè)大學引進和穩(wěn)定人才基金資助項目和安徽省教育廳自然科學研究資助項目(KJ2007B080)


Adaptive Internal Model Control for Agricultural Robot Steering System
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    摘要:

    針對農(nóng)用機器人轉(zhuǎn)向系統(tǒng)狀態(tài)和控制具有復雜,、時滯和增益時變的特性,，將Adaline神經(jīng)網(wǎng)絡(ANN)與內(nèi)?？刂葡嘟Y(jié)合,，提出一種在線調(diào)整時滯時間和控制增益的自適應控制方法,。建立基于Adaline網(wǎng)絡的增益與時滯的辨識算法，即通過反饋誤差在線優(yōu)化,，適應性地調(diào)整時滯時間和增益,，克服參數(shù)時變對內(nèi)模控制和被控對象模型的影響,。仿真和試驗結(jié)果表明,與常規(guī)的PID控制方法相比,該方法具有較高的控制精度,、較強的自適應性和魯棒性,完全適用于農(nóng)用機器人轉(zhuǎn)向系統(tǒng)的控制。

    Abstract:

    Aiming at the characteristics of complex, time-delay and gain time-variation of agricultural robot steering system, the Adaline neural network (ANN) was applied to internal model control (IMC). An adaptive- control method for time-delay online adjusting and gain control was proposed. An algorithm based on Adaline neural networks could adjust time-delay and gain adaptively, and overcome effects of time-variation parameters on IMC and plant model by online optimizing feedback error. Simulations and experimental results verified that compared to conventional PID control method, the proposed control method possessed the advantage of high precision, great adaptability and robustness, so it is feasible for agricultural robot steering system.

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焦俊,江朝暉,金瑞春,許正榮,劉波.農(nóng)用機器人轉(zhuǎn)向系統(tǒng)自適應內(nèi)?？刂芠J].農(nóng)業(yè)機械學報,2011,42(10):186-191,234. Jiao Jun, Jiang Chaohui,Jin Ruichun,Xu Zhengrong, Liu Bo. Adaptive Internal Model Control for Agricultural Robot Steering System[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(10):186-191,234.

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