CAJ | 학술논문

介绍了一种具有全轮转向功能的集装箱作业系统，分析了系统自动对正控制原理。基于Takagi-sug-eno模糊神经网络模型，建立了以作业系统位置姿态为输入，以转向轮等效转角为输出的控制模型。利用采集的实车数据，在Matlab中对控制模型进行训练和测试，并得到优化的隶属度函数。
개소료일충구유전륜전향공능적집장상작업계통，분석료계통자동대정공제원리。기우Takagi-sug-eno모호신경망락모형，건립료이작업계통위치자태위수입，이전향륜등효전각위수출적공제모형。이용채집적실차수거，재Matlab중대공제모형진행훈련화측시，병득도우화적대속도함수。
The paper introduces the container operating system possessing all-wheel steering function,and analyzes the automatic alignment control principle.Based on Takagi-sugeno fuzzy neural network model,the control model is built with position posture of the operating system as input and equivalent turning angle of the steering wheel as output.With the collected actual data,the control model is exercised and tested in Matlab to get optimized subordinating degree function.