摘要
农用自动转向系统要求较大的转向力矩、良好的可靠性等,而无刷直流电机具备低速大功率、启动转矩大、可靠性高、耐颠簸震动等特点,可以满足其要求。但传统PID控制的无刷直流电机存在响应慢、精度低等缺点,使其控制效果不甚人意。所以提出改进天牛须算法对其控制进行改进,通过建立电机模型,采用改进后的PID控制系统并完成仿真验证。经过仿真发现,经过改进天牛须算法优化后的转向控制系统具有良好的动、静态特性,转速相应快,抗干扰能力强,为农用转向系统研究提供有利的依据。
Agricultural automatic steering system requires large steering torque,good reliability,etc.,while brushless DC motor has the characteristics of low speed,high power,large starting torque,high reliability,and resistance to turbulence and vibration,which can meet its requirements.But the traditional PID control of brushless DC motor has some shortcomings,such as slow response,low accuracy,which makes its control effect unsatisfactory.In this paper,the improved beetle antennae search algorithm is proposed to improve its control.By establishing the motor model,the improved PID control system is adopted and the simulation verification is completed.Through simulation,it is found that the steering control system optimized by improved Beetle antennae algorithm has good dynamic and static characteristics,the speed is relatively fast,and the anti-interference ability is strong,which provides a favorable basis for the research of agricultural steering system.
作者
吴泽昊
毛宽民
宋昊
朱洲
WU Ze-hao;MAO Kuan-min;SONG Hao;ZHU Zhou(Huazhong University of Science and Technology,Wuhan Hubei 430074,China)
出处
《计算机仿真》
2024年第9期319-322,499,共5页
Computer Simulation
基金
无人驾驶TMR车智能饲喂系统研发(2021BFH02001)。
