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当前位置: 首页 > 文章 > 基于液压机械差速的履带车辆转向模糊PID控制 农业装备与车辆工程 2020 (6) 25-29
Position: Home > Articles > Fuzzy PID Control of Tracked Vehicle Steering Based on Hydro-mechanical Differential Steering Agricultural Equipment & Vehicle Engineering 2020 (6) 25-29

基于液压机械差速的履带车辆转向模糊PID控制

作  者：
马可;曹付义;王浩然;郭占正;郭富强
单  位：
关键词：
履带车辆;液压机械;差速转向;转速控制;模糊PID
摘  要：
针对液压机械差速转向履带车辆转向过程中的控制问题,为了准确实现驾驶员转向意图,提出一种基于模糊PID算法的转向控制策略。该控制策略以液压机械差速转向履带车辆为研究对象,在建立履带车辆转向过程中数学模型的基础上,以内外侧实际转速和目标转速速差的差值作为模糊PID控制策略的输入,通过调节液压转向调速系统得到排量比补偿量,从而改变内外侧实际转速。仿真结果表明,上述控制策略具有良好的性能,与未使用此控制策略的转向调速系统相比,该控制策略能较精准地控制转向过程。
译  名：
Fuzzy PID Control of Tracked Vehicle Steering Based on Hydro-mechanical Differential Steering
作  者：
Ma Ke;Cao Fuyi;Wang Haoran;Guo Zhanzheng;Guo Fuqiang;College of Vehicle and Transportation Engineering, Henan University of Science & Technology;Henan Collaborative Innovation Center for Advanced Manufacturing of Mechanical Equipment;State Key Laboratory of Tractor Power Systems;
关键词：
tracked vehicle;;hydro-mechanical;;differential steering;;control strategy;;fuzzy PID algorithm
摘  要：
Aiming at the control problems in steering process of tracked vehicle with hydro-mechanical differential steering, a steering control strategy based on fuzzy PID algorithm is proposed in order to accurately realize driver's steering intention. The control strategy is based on the hydraulic mechanical differential steering tracked vehicle. Based on the mathematical model of the tracked vehicle steering process, the difference between the actual speed and the target speed is used as the input of the fuzzy PID control strategy, the displacement ratio compensation amount is obtained by adjusting the hydraulic steering speed control system, thereby changing the inner and outer actual speeds. The simulation results show that the above control strategy has good performance. Compared with the steering speed control system without using this control strategy, the control strategy can control the steering process more accurately.

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