基于MPC的无人履带车辆轨迹跟踪方法研究
Research on Trajectory Tracking Method Of Unmanned Tracked Vehicle Based on MPC
贾伟健 1刘西侠 1王可 2张浩1
作者信息
- 1. 陆军装甲兵学院车辆工程系,北京 100071
- 2. 中国人民解放军 63969 部队,江苏 南京 210000
- 折叠
摘要
为提高无人履带车辆轨迹跟踪控制的精确度及自适应性,设计了一种考虑车辆实时状态的前馈模型预测控制方法.首先建立考虑滑动参数的履带车辆运动学模型.然后将滑动参数视为控制扰动,通过引入轨迹跟踪误差向量角建立轨迹跟踪控制误差模型并在此基础上进行前馈模型预测控制器设计.最后通过履带车辆转向受力分析方法,建立滑动参数离线查表模型,对模型预测控制器进行前馈补偿,以提高控制的精确度及自适应性.通过仿真对控制方法进行性能验证,结果表明,中提出的控制方法可以有效提高履带车辆轨迹跟踪控制的精确度及自适应性.
Abstract
In order to improve the accuracy and adaptability of the trajectory tracking control of unmanned tracked vehicles,a feedforward model predictive control method considering the real-time state of is designed.Firstly,the ki-nematic model of tracked vehicle considering sliding parameters is established.Then,the sliding parameter is regarded as the control disturbance,and the trajectory tracking control error model is established by introducing the trajectory tracking error vector angle parameter.On this basis,the feedforward model predictive controller is designed.Finally,through the steering force analysis method of the tracked vehicle,the sliding parameter off-line look-up table model is established,and the model predictive controller is feedforward compensated to improve the accuracy and adaptability of the control.The performance of the control method is verified by simulation experiments.The results show that the proposed control method can effectively improve the accuracy and adaptability of unmanned tracked ve-hicle trajectory tracking control.
关键词
履带车辆/轨迹跟踪/前馈补偿/模型预测控制Key words
Tracked vehicle/Trajectory tracking/Feedforward compensation/Model predictive control引用本文复制引用
基金项目
国家重点研发计划(2020YFF0304000)
出版年
2024
NETL
NSTL
万方数据