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Study on the deformation control algorithm of brush pruning tool based on fuzzy PID

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DOI: 10.23977/ESAC2020004


Kunpeng Liu, Jingru Li, Longning Wang and Zijie Niu

Corresponding Author

Kunpeng Liu


In the process of automatic pruning of bushes with different shapes, the deformation of bushes pruning tools is affected by the dead weight of bushes pruning tools, which leads to the deviation of the actual posture of bushes pruning tools from the set posture. In order to improve the accuracy of the deformation of shrub cutter, based on the analysis of the physical model of shrub cutter and the control principle of steering gear, a fuzzy PID control algorithm is proposed to correct the deformation process of shrub cutter in real time. At the same time, the algorithm has the advantages of flexible control, fast response, small overshoot and strong robustness.


Brush cutting tools; steering gear control; fuzzy PID algorithm; fuzzy PID controller; attitude correction

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