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为了实现装备多段液压机械无级变速器(HMCVT)拖拉机按目标速度行驶的控制,对装备多段HMCVT拖拉机的模糊自适应PID控制进行了研究。基于Matlab/Simulink平台建立了装备多段HMCVT拖拉机传动系统动力学模型和模糊自适应PID控制模型。根据实际车速和设定车速的实际偏差采用模糊控制的方法自动整定PID控制参数,从而达到车速控制的目的。在拖拉机动力学模型上对模糊自适应PID控制仿真并与PID控制仿真对比,结果表明装备多段HMCVT拖拉机的模糊自适应PID控制具有更强的自适应能力和鲁棒性。
In order to realize the control of the HMCVT tractor driving at the target speed, fuzzy adaptive PID control of multi-stage HMCVT tractors is studied. Based on the Matlab / Simulink platform, a dynamic model of the tractor transmission system with multi-stage HMCVT and a fuzzy adaptive PID control model are established. According to the actual speed and set the actual speed deviation of the fuzzy control method automatically adjust the PID control parameters, so as to achieve the purpose of speed control. The fuzzy adaptive PID control simulation on the tractor dynamics model is compared with the PID control simulation. The results show that the fuzzy adaptive PID control with multi-stage HMCVT tractor has stronger self-adaptability and robustness.