一种管道工程机器人路径跟踪控制方法
A Path Tracking Control Method for Pipeline Engineering Robots
陈庚 1郑晟1
作者信息
- 1. 太原理工大学电气与动力工程学院,山西 太原 030024
- 折叠
摘要
为了提高管道工程机器人在野外环境下路径跟踪的精度,通过研究管道工程机器人在受到侧滑扰动情况下的转向特性,建立基于滑动情况下的运动学模型.提出了一种改进的滑膜观测器用于估计机器人的滑移参数,使用遗传算法对滑膜观测器的增益系数进行优化,使得估计结果更加准确.此外,考虑到因外界干扰导致机器人路径跟踪控制精度低的问题,提出一种改进的滚动时域控制器(RecedingHorizon Control,RHC)用于机器人的路径跟踪控制,将模型中的非线性项与线性项都进行离散化,减小计算难度.实验结果表明,所提出的基于滑移参数估计的RHC路径跟踪控制策略能够快速准确的跟踪目标路径,具有更好的跟踪精度.
Abstract
In order to improve the path tracking accuracy of pipeline engineering robot in field environment,the steering characteristics of pipeline engineering robot under sideslip disturbance were studied,and a kinematic model based on sliding condition was established.An improved synovial observer was proposed to estimate the sliding param-eters of the robot.The Genetic algorithm was used to optimize the gain coefficient of the synovial observer,which makes the estimation result more accurate.In addition,an improved Receding Horizon Control was proposed to dis-cretize both nonlinear and linear terms in the model to reduce the difficulty of calculation.The experimental results show that the proposed RHC path tracking control strategy based on slip parameter estimation can track the target path quickly and accurately with better tracking accuracy.
关键词
管道工程机器人/滑膜观测器/遗传算法/滚动时域控制/路径跟踪Key words
Pipeline engineering robot/Sliding mode observer/Genetic algorithm/Receding horizon control/Path following引用本文复制引用
基金项目
国家自然科学基金(61703300)
中国博士后科学基金(2019M651082)
山西省研究生教育创新计划(2019SY157)
出版年
2024
NETL
NSTL
万方数据