用PID和滑模控制器控制各种路面的侧刷清扫车

IF 1.2 Q3 ENGINEERING, MECHANICAL
H. Thanh, Thang Viet, T. Duc, T. Quoc
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引用次数: 0

摘要

本文研究了一种新型半自动道路清扫车的侧刷控制技术。本研究提出了一种侧刷结构,并提出了一种刷控制方案,以提高工作效率,减少磨料刷。对于采用平行四边形机构的机械系统,刷体升降时的运动方向始终与路面平行。对侧刷机构的建模表明,这是一个非线性系统。因此,从动力学方程出发,提出并建立了滑模控制(SMC)。李亚普诺夫定理证明了它的稳定性。此外,我们还考虑了比例积分导数(PID)控制器来评估非线性系统的线性控制器的响应性。最后,采用遗传算法对控制器参数进行优化,考虑滑模控制相对于PID控制器的响应,对不同参考点的扫地车侧刷进行控制。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Control of the side brush street sweeper for various road surfaces using PID and sliding mode controllers
This paper examines the side brush control technologies for a novelty semi-autonomous road sweeper design. This study proposes a side brush structure and offers a brush control solution to improve working efficiency and reduce abrasive brush. For the mechanical system using a parallelogram mechanism, the direction of movement when raising and lowering the brush is always parallel to the road surface. The modeling of the side brush mechanism shows that this is a nonlinear system. Therefore, the Sliding Mode Control(SMC) was proposed and established from the dynamics equation. The Lyapunov theorem demonstrates its stability. Besides, we also consider the proportional-integral-derivative (PID) controller to evaluate the responsiveness of the linear controller for a nonlinear system. Finally, the parameters of the controllers are optimized by a genetic algorithm to consider the response of the sliding mode control compared to the PID controller to control the road sweeper side brush with different references.
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来源期刊
FME Transactions
FME Transactions ENGINEERING, MECHANICAL-
CiteScore
3.60
自引率
31.20%
发文量
24
审稿时长
12 weeks
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