Research on trajectory-tracking scheme for tracked vehicles based on virtual front-wheel feedback control algorithm
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.
driverless tracked vehicletrajectory trackingsteering geometry model
NETL
NSTL
万方数据
