|
Abstract Proportional-integral-derivative (PID) control algorithm is widely used in the angle control system of tea garden tractor, but the PID controller brings a lot of parameters setting and hysteresis, which can inevitably reduce the control accuracy and control efficiency. To solve the problem, a tea garden tractor angle controller based on the grey wolf optimization algorithm(GWOA) was proposed. A simplified mathematical model for electric power steering(EPS) system of tea garden tractor was established, and a PIDbased motor currentsteering wheel angle double closedloop control strategy was adopted. The GWOA was designed to optimize the parameters of the traditional PID controller, and the PID angle controller based on GWOA was constructed. CARSIM and MATLAB were used to simulate the tractor operation in real time, and the proposed tea garden tractor angle controller algorithm based on GWOA was verified. The results show that the total current harmonic distortion(THD) of the traditional PID controller is 11.46%, and the THD of the particle swarm optimization(PSO)PID controller is 8.12%. The THD of the proposed GWOA-PID controller is 6.28%, which reduces the current harmonics by 45.2%.
|
Received: 10 November 2021
|
|
|
|
[1] |
贾全,张小超,苑严伟,等.拖拉机自动转向系统容错自适应滑模控制方法[J].农业工程学报,2018,34(10):76-84.
|
|
JIA Q, ZHANG X C, YUAN Y W, et al.Faulttolerant adaptive sliding mode control method of tractor automatic steering system[J]. Transactions of the Chinese Society of Agricultural Engineering, 2018,34(10):76-84. (in Chinese)
|
[2] |
邓召文,章广昊,张书乾,等.EPS系统汽车操纵稳定性人-车闭环联合仿真[J].拖拉机与农用运输车, 2019, 46(5): 21-26,32.
|
|
DENG Z W, ZHANG G H, ZHANG S Q, et al. Cosimulation of handling stability of vehicle equipped with EPS based on humanvehicle closedloop control system [J]. Tractor & Farm Transporter, 2019, 46(5): 21-26,32.(in Chinese)
|
[3] |
袁建霞,张秋菊,胡小鹿,等.无人驾驶拖拉机研究国际竞争态势与研究热点[J].农业工程,2021,11(7):9-16.
|
|
YUAN J X, ZHANG Q J, HU X L, et al. International competition situation and research focus on unmanned tractors[J]. Agricultural Engineering,2021,11(7):9-16. (in Chinese)
|
[4] |
孙连烛,张兆国,付卫强,等.拖拉机电液与电机两种自动转向方式对比试验[J].农机化研究,2021,43(6):253-258.
|
|
SUN L Z, ZHANG Z G, FU W Q, et al.Comparison test of two automatic steering modes of tractor electrohydraulic and electric motor[J]. Agricultural Mechanization Research, 2021,43(6):253-258. (in Chinese)
|
[5] |
柳泓亦. 拖拉机电动助力转向系统设计与控制研究[D].南京:南京农业大学,2018.
|
[6] |
ZHANG F. Development of an automated guidance system for tracked combine harvester[C]∥The International Conference on Intelligent Agriculture, 2017: 389-399.
|
[7] |
李世超,曹如月,季宇寒,等.基于不同电机的拖拉机自动导航转向控制系统性能对比[J].农业机械学报,2019,50(S1):40-49.
|
|
LI S C, CAO R Y, JI Y H, et al. Performance analysis and comparison of different types of steering wheel turning control motors in automatic navigation system[J]. Transactions of the Chinese Society for Agricultural Machinery, 2019,50(S1):40-49.(in Chinese)
|
[8] |
王茂励,段杰,唐勇伟,等.基于模糊PID算法的农机自动转向系统研究[J].农机化研究,2018,40(11):241-245.
|
|
WANG M L, DUAN J, TANG Y W, et al. Research on agricultural machinery automatic steering system based on fuzzy PID algorithm[J]. Agricultural Mechanization Research, 2018,40(11):241-245.(in Chinese)
|
[9] |
王守瑞,尹成强,苗河泉.拖拉机前轮转角自动控制系统设计[J].中国农机化学报,2019,40(9):126-130.
|
|
WANG S R, YIN C Q, MIAO H Q. Design of automatic control system of tractor front wheel angle[J]. Journal of Chinese Agricultural Mechanization, 2019,40(9):126-130.(in Chinese)
|
[10] |
QI Z, SHI Q, ZHANG H. Tuning of digital PID controllers using particle swarm optimization algorithm for a CANbased DC motor subject to stochastic delays[J]. IEEE Transactions on Industrial Electronics, 2020, 67(7):5637-5646.
|
[11] |
MUGHEES A, MOHSIN S A. Design and control of magnetic levitation system by optimizing fractional order PID controller using ant colony optimization algorithm[J].IEEE Access, 2020,8: 116704-116723.
|
[12] |
MADVAR H R, DEHGHANI M, MEMARZADEH R, et al. Derivation of optimized equations for estimation of dispersion coefficient in natural streams using hybridized ANN with PSO and CSO algorithms[J]. IEEE Access, doi:10.1109/ACCESS.2020.3019362.
|
[13] |
KNYPISKI , NOWAK L. Application of the grey wolf algorithm for optimization of PM synchronous motor[C]∥2019 19th International Symposium on Electromagnetic Fields in Mechatronics, Electrical and Electronic Engineering, 2019: 1-2.
|
[14] |
MIRJALILI S, MIRJALILI S M, LEWIS A. Grey wolf optimizer [J]. Advances in Engineering Software, 2014, 69(3): 46-61.
|
[15] |
DEMIRT??塁 M, KARA M R, ERI??塁MI??塁 M A, et al. Performance optimization of a frontend circuit for capacitance measurements using grey wolf algorithm[C]∥2020 Innovations in Intelligent Systems and Applications Conference, 2020: 1-5.
|
[16] |
徐静波.基于PSO算法的PID控制参数优化[J].东华大学学报(自然科学版),2007, 33(1):135-138.
|
|
XU J B.PID tuning by means of particle swarm optimization [J]. Journal of Donghua University (Natural Science), 2007,33(1):135-138. (in Chinese)
|
|
|