Research on Controller of Glass Greenhouse Cleaner Based on PSO-Fuzzy-PID

Abstract

When cleaning the surface of a glass greenhouse, the washing machine often encounters slippery tracks or strong winds, in which case the washing machine is very likely to deviate from the axis of the greenhouse. In order to improve the stability and reliability of the glass greenhouse cleaner under different working conditions, this paper studies the controller of the glass greenhouse cleaner and puts forward a fuzzy PID control scheme optimized by the PSO algorithm. Using Adams and Matlab to jointly simulate the machine model, the results show that the particle swarm fuzzy PID controller has the best control effect and can make the cleaner adaptable to a variety of working conditions. The system overshoot was reduced by up to 35.5%, the response time by up to 3 s, and the difference between left and right wheel speeds by up to 0.086 deg/s.