Отрывок: The formula of the improved incremental PID is:         1 1 2 3 3 ( ) [ ( ) 2 ( 1) ( 2)] ( ) 0 ( ) 0 ( ) 0 ( ) 0 ( ) 0 ( ) 0 ( ) [ ( ) ( 1)] ( ) 0 ( ) 0 ( ) 0 ( ) 0 ( ) 0 ( ) 0 ( ) [ ( ) ( 1) ( )] ( ) 0 ( ) 0 ( P D P P I k Tu k e k e k e k e k e k e k e k e k e k T u k k e k e k e k e k e k e k e k e k Tu k k e k e k e k e k e k e T                                                       4 4 ...
Полная запись метаданных
Поле DC Значение Язык
dc.contributor.authorChen, L.L.-
dc.date.accessioned2023-02-21 10:17:05-
dc.date.available2023-02-21 10:17:05-
dc.date.issued2023-02-
dc.identifierDspace\SGAU\20230216\102048ru
dc.identifier.citationChen LL. Research on robot motion control and trajectory tracking based on agricultural seeding. Computer Optics 2023; 47(1): 179-184. DOI: 10.18287/2412-6179-CO-1171.ru
dc.identifier.uri10.18287/2412-6179-CO-1171-
dc.identifier.urihttp://repo.ssau.ru/handle/Zhurnal-Komputernaya-optika/Research-on-robot-motion-control-and-trajectory-tracking-based-on-agricultural-seeding-102048-
dc.description.abstractWith the development of science and technology, agricultural production has been gradually industrialized, and the use of robots instead of humans for seeding is one of the agricultural industrializations. This paper studied the seeding path planning and path tracking algorithms of the seeding robot, carried out experiments, and compared the improved proportion, integral, differential (PID) algorithm with the traditional PID control algorithm. The results demonstrated that both the improved and non-improved control algorithms played a good role in tracking on the straight path, but the improved control algorithm had a better tracking effect on the turning path; the displacement deviation and angle deviation of the tracking trajectory of the improved PID algorithm were reduced faster and more stable than the traditional PID algorithm; the tracking trajectory was shorter and the operation time of the robot was less under the improved PID algorithm than the traditional one.ru
dc.language.isoenru
dc.publisherСамарский национальный исследовательский университетru
dc.relation.ispartofseries47;1-
dc.subjectseeding robot, trajectory tracking, PID, motion controlru
dc.titleResearch on robot motion control and trajectory tracking based on agricultural seedingru
dc.typeArticleru
dc.textpartThe formula of the improved incremental PID is:         1 1 2 3 3 ( ) [ ( ) 2 ( 1) ( 2)] ( ) 0 ( ) 0 ( ) 0 ( ) 0 ( ) 0 ( ) 0 ( ) [ ( ) ( 1)] ( ) 0 ( ) 0 ( ) 0 ( ) 0 ( ) 0 ( ) 0 ( ) [ ( ) ( 1) ( )] ( ) 0 ( ) 0 ( P D P P I k Tu k e k e k e k e k e k e k e k e k e k T u k k e k e k e k e k e k e k e k e k Tu k k e k e k e k e k e k e T                                                       4 4 ...-
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