基于模糊PID策略的磁导航控制系统设计与实验

IF 1 4区工程技术 Q4 ENGINEERING, MECHANICAL

Mechanical Sciences Pub Date : 2022-11-08 DOI:10.5194/ms-13-921-2022

G. Geng, Feng Jiang, Chao Chai, Jianming Wu, Yejun Zhu, Guiguan Zhou, M. Xiao

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引用次数: 0

摘要

摘要针对温室环境下设施农业设备导航困难、受环境因素影响大、导航困难、精度低等问题，结合磁导航控制原理，设计了一种基于模糊PID(比例积分微分)控制的适用于温室环境的磁导航控制器。实现了温室环境下的磁导航，并在现有农机平台上进行了安装试验。结果表明:直线行驶时，直线度误差控制在±2.5 cm m−1，弯道行驶时，驱动偏差控制在±4.5 cm m−1。因此，可以认为在温室环境中设计的基于模糊PID控制的磁导航控制方法，可以有效地提高导航精度，在一定程度上促进设施农业装备的应用。

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Design and experiment of magnetic navigation control system based on fuzzy PID strategy

Abstract. In view of the difficulties in the navigation of facility agricultural equipment in a greenhouse environment, which are greatly affected by environmental factors, being difficult to navigate, and low accuracy, a magnetic navigation controller suitable for greenhouse environments is designed based on fuzzy PID (proportion integration differentiation) control and combined with the principle of magnetic navigation control in this paper. The magnetic navigation in a greenhouse environment is realised, and the installation test is carried out on the existing agricultural machinery platform. The results show that when driving in a straight line, the straightness error is controlled at ±2.5 cm m−1, and when driving on a bend, the driving deviation is controlled at ±4.5 cm m−1. Therefore, it can be considered that the magnetic navigation control method based on fuzzy PID control designed in the greenhouse environment can effectively improve the accuracy of navigation and promote the application of facility agricultural equipment to a certain extent.

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来源期刊

Mechanical Sciences ENGINEERING, MECHANICAL-

CiteScore

2.20

自引率

7.10%

发文量

审稿时长

29 weeks

期刊介绍： The journal Mechanical Sciences (MS) is an international forum for the dissemination of original contributions in the field of theoretical and applied mechanics. Its main ambition is to provide a platform for young researchers to build up a portfolio of high-quality peer-reviewed journal articles. To this end we employ an open-access publication model with moderate page charges, aiming for fast publication and great citation opportunities. A large board of reputable editors makes this possible. The journal will also publish special issues dealing with the current state of the art and future research directions in mechanical sciences. While in-depth research articles are preferred, review articles and short communications will also be considered. We intend and believe to provide a means of publication which complements established journals in the field.