基于力矩信息的拖拉机转向动态PID控制方法

针对拖拉机驾驶机器人自主转向系统在转向过程中的阻尼具有非线性和时变性的特点,同时为了提高转向系统的控制性能,设计了基于力矩信号检测的拖拉机转向控制系统,其由力矩传感器、STM32处理器、工控机、驱动器及直流电机等组成.首先通过仿真研究不同力矩时的最优PID控制参数,给出不同力矩时的最优PID参数规律,再通过力矩传感器检测的力矩信号动态调整PID参数来控制电机的转向.仿真及实验结果均表明,基于力矩信号反馈的拖拉机动态PID转向控制方法能够有效控制拖拉机的方向,响应快、超调小、适应性强.

Control Method of Tractor Steering System Dynamic PID Based on Torque Information

According to the characteristics that the steering damping existing in the agricultural tractor steering process is time-varying and nonlinear,in order to improve the control performance of steering system,a tractor steering torque measurement and motor control system based on the torque information is designed,which consists of a torque sensor,a STM32 processor,an industrial PC,a DC motor and drives,etc.Firstly,the optimal PID control parameters of different torque are studied through the simulation,and the parameter rules are given.Then the wheel motor is controlled by the PID that is adjusted through torque model using the detected torque sensor signal.The simulation and experiment results show that the dynamic PID steering control method of tractor based on the torque signal feedback can effectively control the direction of the tractor,which has fast response,small overshoot,and strong adaptability.