摘要
针对数学模型复杂的拖拉机转向控制问题,使用基于神经网络的控制方法,以福田欧豹4040型拖拉机为研究对象,进行农用车辆导航控制研究。以车辆航向偏差和航向偏差的变化率为输入变量,以前轮转角的变化量为输出变量,设计车辆转向控制神经网络控制器,对拖拉机进行转向控制。仿真表明,该方法可以对拖拉机的转向进行有效控制。实验结果表明,拖拉机在50m的行驶距离内,最大横向偏差为0.18m。
The complexity of the mathematical model for the agricultural vehicle steering control problem, the use of genetic algorithm based on fuzzy neural networks to control methods, The steering control system of FOTON -4040 tractor was studied in this paper for the sake of automatic driving. Vehicle heading error deviation and the rate of change of direction for the input variables, in the past changes in rotation angle of the output variables, the design of vehicle steering control neural network controller, carried out on the tractor steering control, simulation shows that the method can be carried out on the tractor steering effective control. Test than 0. 18m within the driving distance of 50m.
出处
《农机化研究》
北大核心
2010年第4期75-77,共3页
Journal of Agricultural Mechanization Research
基金
西北农林科技大学"青年学术骨干支持计划"资助项目(01140301)
关键词
拖拉机
神经网络控制
自动导航
tractor
network control
automatic navigation results indicated that, the deviation of lateral offset was less
