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在一台试验用拖拉机上设计了一个由机械、液压和电子控制器组成的、以实现农业田间环境下机器自动引导行走为目标的随动控制系统。模拟试验和田间试验表明 ,这一控制系统具有容忍来自断续、不匀称引导基准的噪声干扰的能力 ,可以比较精确地引导试验车沿植物边界运动 ,也可以边界错位后自动跟随新边界 ;通过调低系统增益和优选死区大小 ,可以提高随动控制性能。
In a pilot tractor, a follow-up control system consisting of mechanical, hydraulic and electronic controllers is designed to achieve automatic guided walking of agricultural field environment. Simulation and field experiments show that this control system has the ability to tolerate noise from discontinuous and unevenly guided reference, which can guide the test vehicle more accurately along the plant boundary and automatically follow the new boundary after the boundary is dislocated. Lowering the system gain and optimizing the size of the dead zone can improve follow-up control performance.