| 扰动下农用运输车辆路径跟踪控制器设计与试验 |
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| 引用本文： | 刘正铎,张万枝,吕钊钦,郑文秀,穆桂脂,程向勋.扰动下农用运输车辆路径跟踪控制器设计与试验[J].农业机械学报,2018,49(12):378-386. |
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| 作者姓名： | 刘正铎 张万枝 吕钊钦 郑文秀 穆桂脂 程向勋 |
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| 作者单位： | 山东农业大学,山东农业大学,山东农业大学,山东农业大学,山东农业大学,山东农业大学 |
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| 基金项目： | 山东省农机装备研发创新计划项目(2018YF020-07、2017YF002)、山东省现代农业产业技术体系薯类创新团队农业机械岗位专家项目(SDAIT-16-10)和山东农业大学青年科技创新基金项目(24158) |
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| 摘 要： | 为提高农用运输车辆路径跟踪的鲁棒稳定性，基于线性模型预测控制结合农用运输车辆特点设计了路径跟踪控制器。该方法首先将农用运输车辆的运动学模型进行离散化求解，推出误差模型作为控制器预测方程，为使农用运输车能够克服在田间行驶时的各种干扰，通过构建李雅普诺夫函数重点分析了该模型的鲁棒稳定性，得到控制周期约束条件，然后建立目标函数并引入松弛因子，最后把预测模型代入目标函数进行优化求解，重复以上过程，实现优化控制。Matlab仿真表明：当前轮转角扰动不大于15°及横向扰动不大于1.5m时，控制器可以迅速起到调节作用，使车辆快速回到参考轨迹上行驶。对应的场地试验结果表明：试验小车以2m/s的速度跟踪参考路径时，直线路段跟踪效果良好，最大横向偏差为10.57cm，均值为8.49cm；添加扰动路段的跟踪偏差较大，最大横向偏差为23.89cm,最大纵向偏差为62.53cm，但在控制器的控制作用下可以实现对路径的有效跟踪。由此可见，该控制器在速度小于等于2m/s的情况下，可以满足农用运输车辆对路径跟踪的精度与鲁棒稳定性要求。
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| 关 键 词： | 农用运输车 路径跟踪 扰动 控制器 鲁棒稳定性 |
| 收稿时间： | 2018/8/7 0:00:00 |
Design on Trajectory Tracking Controller of Agricultural Vehicles under Disturbances |
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| Institution: | Shandong Agricultural University,Shandong Agricultural University,Shandong Agricultural University,Shandong Agricultural University,Shandong Agricultural University and Shandong Agricultural University |
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| Abstract: | Aiming to improve the trajectory tracking robust stability of agricultural vehicles, a path tracking control method was proposed based on the linear predictive model. Through the proposed method, the path tracking problem can be divided into two problems: the trajectory planning problem and the trajectory tracking optimization problem with speed and steering angle constraints. Firstly, a dynamic model of the agricultural vehicle was established and discretized to deduce the system error model, based on which the prediction model was obtained for the controller. Then the Lyapunov function was introduced to validate the convergence and robust of the controller. Secondly, an objective function based on system variables and control inputs was coined. And the constraints of system state variables and control inputs were taken into consideration. The optimal control system was transformed into an optimization problem. Finally, the interior point method was brought forward to solve the optimization problem. The Matlab simulation results validated the road tracking ability of the tested road with enough robust performance. When front wheel disturbance was not more than 15° and tracking disturbance in lateral direction was not more than 1.5m, the controller can quickly adjust the vehicle to the reference track. Meanwhile, the corresponding experiments were conducted. It was showed that the maximum lateral tracking deviation was 10.57cm and the mean was 8.49cm with forward speed of 2m/s. During circular sections or after injecting the disturbance, the deviation was significantly increased and the maximum lateral deviation was 23.89cm, but the effective tracking can still be achieved. It can be concluded that the controller can satisfy the requirements of the precision and robustness of agricultural vehicles when the speed was less than 2m/s. |
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| Keywords: | agricultural transport vehicles path tracking disturbances controller robust stability |
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