基于遗传优化的模糊PID控制在智能除草中的应用研究*

针对当前智能除草控制系统的非线性、时滞性及喷施精度过低等问题，设计了一种基于超代遗传算法(HG-GA)优化的模糊PID控制方案。在该方案中，针对智能除草装置的特点，设计了对应的模糊PID控制器，并对控制器的各因子进行遗传优化，从而提高系统的控制效果，同时加快了优化速度。实验结果表明这是一种有效的控制策略，尤其是在处理非线性及外部干扰方面有更好的鲁棒性。

Application of fuzzy PID control for intelligent weeding system based on genetic algorithm

Based on the nonlinear, time lag and low-precision spraying problems of intelligent weeding system, this paper proposed a control strategy based on hyper generation genetic optimization. This strategy designed a proper fuzzy PID controller against the feature of weeding system, and gained the optimal value of the factors of the output variables of fuzzy-PID controller to achieve better optimization speed and control effect. Experimental results show that the proposed method produces better control performance than traditional control strategy, which has good dynamic character and stabilization in handing external and nonlinearities disturbances.