摘要
利用PD控制设计了拖拉机半挂车机组的自动直线倒车控制系统。建立了表达拖拉机半挂车机组行驶特性的运动学模型。对非线性的拖拉机半挂车机组控制系统进行了线性化处理。应用计算机仿真找出适当的比例系数和微分系数,然后进行田间试验。试验结果表明所设计的PD控制器不但稳定,而且成功地实现了拖拉机半挂车机组的自动直线倒车。
In this paper the automatic navigation of a tractor-trailer combination （TTC） along rectilinear path in backward motion based on PD control was presented. A kinematic model was applied to express the behavior of the TTC. The linearization operation was conducted for the nonlinear TTC control system to obtain a small-signal linear approximation. Computer simulation was performed to find the suitable proportional and differential gains, which would be used in the field test. The test results show that the designed PD controller was stable and could guide the TTC reversing along straight path automatically.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2006年第7期98-100,73,共4页
Transactions of the Chinese Society for Agricultural Machinery
关键词
拖拉机半挂车机组
倒车
控制系统
仿真
Tractor-trailer combination, Backward driving, Control system, Simulation
作者简介
朱忠祥 中国农业大学工学院 讲师,100083 北京市
陈军 西北农林科技大学机械与电子工程学院 副教授 通讯作者,712100 陕西省杨凌
鸟巢谅 日本岩手大学农学部 教授,0208550 日本岩手县盛冈市
