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無(wú)人駕駛電動(dòng)拖拉機(jī)犁耕機(jī)組路徑跟蹤與耕深模糊控制策略研究
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Fuzzy Control Strategy for Path Tracking-Tillage Depth of Unmanned Electric Tractor Ploughing Unit
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    摘要:

    田間土壤比阻多變,、地塊凹凸不平造成拖拉機(jī)在犁耕工況下行駛速度和牽引阻力大幅波動(dòng),傳統(tǒng)拖拉機(jī)無(wú)人作業(yè)系統(tǒng)難以滿(mǎn)足路徑跟蹤精度和耕深均勻性的農(nóng)藝要求,。本文系統(tǒng)分析了無(wú)人駕駛電動(dòng)拖拉機(jī)犁耕機(jī)組作業(yè)特性,,提出了拖拉機(jī)犁耕機(jī)組路徑跟蹤與耕深模糊控制策略,包括模糊Stanley路徑跟蹤控制方法和預(yù)估補(bǔ)償變論域模糊PID耕深控制方法,,兼顧了拖拉機(jī)重負(fù)載犁耕工況下的犁耕深度與行駛速度,,提高了電液懸掛系統(tǒng)的耕深均勻性和無(wú)人駕駛系統(tǒng)的直線(xiàn)性。為驗(yàn)證所提控制策略的有效性,,搭建無(wú)人駕駛電動(dòng)拖拉機(jī)犁耕機(jī)組試驗(yàn)平臺(tái),,開(kāi)展田間路徑跟蹤和犁耕試驗(yàn)。試驗(yàn)結(jié)果表明:本文提出的控制策略能適應(yīng)復(fù)雜多變的田間環(huán)境,,路徑跟蹤作業(yè)最大橫向偏差不大于0.042m,,犁耕作業(yè)橫向偏差標(biāo)準(zhǔn)差不大于0.086m;行駛速度均值保持穩(wěn)定,,平均絕對(duì)誤差為0.16km/h,,平均相對(duì)誤差為4.38%;耕深變異系數(shù)均值為9.29%,,相較于模糊PID算法降低14.57%,。本文提出的控制策略可根據(jù)不同土壤比阻、地塊凹凸程度和牽引阻力,,提高拖拉機(jī)犁耕作業(yè)的耕深均勻性和導(dǎo)航直線(xiàn)性,,具有良好的適應(yīng)性和魯棒性,滿(mǎn)足拖拉機(jī)犁耕作業(yè)農(nóng)藝需求,,為實(shí)現(xiàn)無(wú)人駕駛電動(dòng)拖拉機(jī)多參數(shù)控制提供了參考,。

    Abstract:

    Variable specific resistance of field soil and unevenness of the plot cause the tractor driving speed and traction resistance to fluctuate greatly under the ploughing condition, and the traditional unmanned tractor operation system is difficult to meet the agronomic requirements of path tracking accuracy and ploughing depth uniformity. The operation characteristics of unmanned electric tractor ploughing unit were systematically analyzed, and a fuzzy control strategy for tractor ploughing unit path tracking and ploughing depth was proposed, including the fuzzy Stanley path tracking control method and the predictive compensation variable-domain fuzzy PID ploughing depth control method, which took into account the ploughing depth and driving speed under the ploughing condition of the tractor with heavy loads, and improved the ploughing depth uniformity and the straightness of unmanned system of electro-hydraulic suspension. In order to verify the effectiveness of the proposed control strategy, a test platform for the ploughing unit of unmanned electric tractor was set up to carry out field path tracking and ploughing tests. The test results showed that the control strategy proposed can adapt to the complex and variable field environment, the maximum lateral deviation of the path tracking operation was no more than 0.042m, and the standard deviation of lateral deviation of ploughing operation was no more than 0.086m; the mean value of the driving speed remained stable, with an average absolute error of 0.16km/h and an average relative error of 4.38%;the mean value of the coefficient of variation of ploughing depth was 9.29%, which was 14.29% lower than that of the fuzzy PID algorithm. A control strategy proposed can enhance the ploughing depth uniformity and navigation linearity of tractor ploughing operation on the basis of different soil specific resistance, the degree of concavity and convexity of the plot, and the magnitude of traction resistance, with excellent adaptability and robustness to satisfy the agronomic requirements of tractor ploughing operation, which provided a reference for the implementation of the multiparameter control of the unmanned electric tractor.

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陳仲舉,謝斌,羅振豪,劉楷東,張勝利,溫昌凱.無(wú)人駕駛電動(dòng)拖拉機(jī)犁耕機(jī)組路徑跟蹤與耕深模糊控制策略研究[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2024,55(12):491-504. CHEN Zhongju, XIE Bin, LUO Zhenhao, LIU Kaidong, ZHANG Shengli, WEN Changkai. Fuzzy Control Strategy for Path Tracking-Tillage Depth of Unmanned Electric Tractor Ploughing Unit[J]. Transactions of the Chinese Society for Agricultural Machinery,2024,55(12):491-504.

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  • 收稿日期:2024-01-19
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  • 在線(xiàn)發(fā)布日期: 2024-12-10
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