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Mechanical automatic steering control method

A technology of automatic steering and control methods, applied in adaptive control, electric controllers, general control systems, etc., can solve problems such as poor static characteristics, and achieve the effect of improving robustness, stability and accuracy

Inactive Publication Date: 2008-07-16
CHINA AGRI UNIV
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Problems solved by technology

[0005] The fuzzy control method is a new type of control method developed in recent years. Its advantage is that it does not need to master the precise mathematical model of the controlled object. According to the manual control rules, the organizational control decision determines the size of the control amount and can obtain good dynamic characteristics. Static characteristics are relatively poor

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  • Mechanical automatic steering control method
  • Mechanical automatic steering control method
  • Mechanical automatic steering control method

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Embodiment Construction

[0037] The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0038]The agricultural machinery in the present embodiment has DGPS positioning technology according to the prior art, and the positioning accuracy provided by the GPS system is better than 10 meters at present, and in order to obtain higher positioning accuracy, usually adopt differential GPS technology, that is, the DGPS positioning technology: a A GPS receiver is placed on the base station for observation. According to the known precise coordinates of the base station, the distance correction number from the base station to the satellite is calculated, and the data is sent by the base station in real time. While the user receiver is performing GPS observation, it also receives the correction number sent by the reference station, and corrects its positioning result, thereby improving the positioning accuracy, and using DGPS positioni...

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Abstract

The invention relates to a machinery automatic steering control method which comprises the following steps that: positional deviation and course deviation are determined; according to the variance in the practical front wheel rotating angle of an agricultural machine, online setting of PID parameter is completed by means of parameter self-setting PID control algorithm; moreover, the expected front wheel rotating angle of the next moment is calculated, thereby realizing automatic steering control of the agricultural machine. Based on conventional PID navigation control method, the invention makes full use of the fuzzy control method; according to the variance in the practical front wheel rotating angle of an agricultural machine, the invention meets the different requirements of the machine on PID control parameter under different errors and error change rate, thereby realizing online setting of PID parameter. The invention not only has the advantages of fuzzy control such as flexibility and adaptability, but also has the characteristics of higher precision of PID control; therefore, the invention can increase the stability and precision of agricultural machine automatic steering control and the robustness of a control system.

Description

technical field [0001] The invention relates to the field of navigation control of agricultural machinery, in particular to a control method for automatic steering of machinery. Background technique [0002] The main purpose of agricultural machinery navigation control is to determine the positional relationship between the agricultural machinery itself and the predefined path based on the relatively accurate navigation and positioning results obtained by each sensor, and to determine the appropriate front wheel angle in combination with the movement state of the agricultural machinery and the corresponding control algorithm. , to correct the path tracking error, so that the current heading of the agricultural machinery coincides with the target heading quickly. Navigation control is divided into longitudinal control and lateral control, wherein lateral control mainly refers to steering control, and longitudinal control mainly refers to speed adjustment. The automatic steer...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12G05B11/42G05B13/02A01B69/00
Inventor 刘刚孟祥健杨玉糯司永胜
Owner CHINA AGRI UNIV
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