基于鲁棒模型预测的无人拖拉机跟踪控制方法分析
Analysis of Unmanned Tractor Tracking Control Method Based on Robust Model Prediction
侯晓晓 1涂亚楠 1陈晓静 1李怀玉1
作者信息
- 1. 黄河交通学院,河南 焦作 454000
- 折叠
摘要
无人驾驶拖拉机是一种利用自动化技术和传感器设备进行自主导航的农业机械设备,可以在无人操作的情况下完成农田的耕作、种植、施肥、除草等作业.无人驾驶拖拉机田间运动控制是拖拉机整机与自动驾驶系统沟通的关键技术.为此,在无人驾驶拖拉机田间运行给定形式路径的基础上,通过构建无人驾驶拖拉机运动模型并进行线性化处理,运用模型预测控制拖拉机田间运行轨迹,以实现对田间无人驾驶拖拉机轨迹跟踪的研究目标.结果表明:基于鲁棒模型预测的拖拉机跟踪控制器能够提高拖拉机田间运行控制精度,拖拉机直线运行控制误差<0.03 m.
Abstract
Driverless tractor is a kind of agricultural machinery and equipment that uses automation technology and sensor equipment for autonomous navigation.It can complete farmland tillage,planting,fertilization,weeding and other opera-tions without being operated.Driverless tractor field motion control is the key technology for the communication between the whole tractor and the automatic driving system.In this study,based on the given form path of unmanned tractor field operation,the research objective of tracking the trajectory of unmanned tractor in the field is achieved by constructing the unmanned tractor motion model and linearizing it,and using model predictive control to control the tractor field operation trajectory.The research results show that the tractor tracking controller based on robust model prediction can improve the tractor field operation control accuracy,and the tractor linear operation control error<0.03 m.
关键词
无人拖拉机/轨迹跟踪/鲁棒模型预测/农业机器人Key words
unmanned tractor/trajectory tracking/robust model prediction/agricultural robot引用本文复制引用
出版年
2025
国家科技期刊平台
NSTL
万方数据