基于虚拟前轮反馈控制算法的履带车轨迹跟踪方案研究
Research on trajectory-tracking scheme for tracked vehicles based on virtual front-wheel feedback control algorithm
刘辉 1王振辉 1陈洪月 2郑雨新3
作者信息
- 1. 辽宁工程技术大学机械工程学院,辽宁阜新 123000
- 2. 辽宁工程技术大学机械工程学院,辽宁阜新 123000;中国煤炭工业协会高端综采成套装备动力学测试与大数据分析中心,辽宁阜新 123000;辽宁工程技术大学矿山液压技术与装备国家地方联合工程研究中心,辽宁阜新 123000
- 3. 辽宁工程技术大学图书馆,辽宁阜新 123000
- 折叠
摘要
为了提高煤矿开采环境中履带车辆轨迹跟踪控制的精度,以及减小轨迹跟踪算法的运算负荷,文中以两侧电机驱动履带车为研究对象,提出了一种基于虚拟前轮反馈控制算法的履带车轨迹跟踪方案.采用虚拟前轮反馈控制器为履带车提供参考跟踪轨迹,将前轮转向车与履带车运动轨迹结合,引入执行机构限制条件,建立了虚拟前轮车与履带车拟合的数学模型.针对虚拟前轮反馈控制所得离散参考跟踪轨迹序列点的特点,提出了一种圆弧曲线拟合方法,通过拟合离散参考跟踪轨迹点对履带车的运动控制量求解,将多变量控制问题转化为单变量控制,减小了履带车辆轨迹跟踪算法的运算负荷,实现了前轮反馈控制在履带车辆上的应用.在MATLAB软件中进行仿真试验和实车试验,并与纯跟踪算法比较,试验证明,该方案可以有效地实现履带车的高精度轨迹跟踪.
Abstract
In this article,in order to improve the accuracy in trajectory-tracking control of the tracked vehicle in the coal-mining environment and reduce the operation load of the trajectory tracking algorithm,with the focus on the tracked vehicle driven by the electric motor on both sides,the trajectory-tracking scheme for tracked vehicles is proposed based on the virtual front-wheel feedback control algorithm.The virtual front-wheel feedback controller is used to provide reference on trajectory tracking for the tracked vehicle;in combination with the front-wheel steering car and the tracked vehicle's movement track,the actuator restric-tions are introduced to set up the mathematical model of the fitting between the virtual front-wheel car and the tracked vehicle.With the characteristics of the tracked vehicle's trajectory-tracking discrete sequence points obtained from the virtual front-wheel feedback control taken into consideration,an arc-curve fitting method is proposed.By fitting the tracked vehicle's trajectory-tracking discrete sequence points,the control variables of the tracked vehicle's motion are solved,and the multi-variable control is transformed into the single-variable control,thus reducing the computational load of the trajectory tracking algorithm and reali-zing the application of the front-wheel feedback control on the tracked vehicle.Both the simulation and the real-vehicle experi-ments are conducted in MATLAB.It is shown that compared with pure tracking algorithm,this algorithm can effectively achieve high accuracy in trajectory tracking of tracked vehicles.
关键词
无人驾驶履带车/轨迹跟踪/转向几何模型Key words
driverless tracked vehicle/trajectory tracking/steering geometry model引用本文复制引用
基金项目
国家自然科学基金(51874157)
辽宁省教育厅基础研究项目(LJ2020JCL026)
辽宁工程技术大学创新领军团队(LNTU20TD-02)
辽宁省"兴辽英才计划"项目(XLYC2007131)
出版年
2024
NETL
NSTL
万方数据