| Underground scraper's steering mechanism of hinge joints is special.The auto-steering control system is a large inertial,large time-delay and nonlinear system.Use the control target of position error,the control result is not satisfied by using a conventional PID cascade control method.This paper tries to simulate the driver,add a control target and simulates in MATLAB/Simulink with ADAMS.The test result of the new method is satisfied in the demand of quick respond,stabilization and exactitude.It has positi... |