基于MPC的履带车步进行驶控制器设计
Design of walking controller for crawler vehicle based on MPC
宋秋杰 1熊树生1
作者信息
摘要
针对摊铺后处理履带车人工步进行驶易与摊铺路面发生碰撞,且难以摆正终点的车辆位置的问题,设计了一种基于MPC的履带车步进行驶控制器.该控制器基于四次多项式轨迹规划,规划步进轨迹,依据碰撞约束及终点平稳性设计目标函数;基于四次多项式规划结果,采用非线性MPC算法及线性MPC耦合PID算法进行轨迹跟踪仿真对比.仿真结果表明,控制器满足碰撞约束及轨迹平稳性要求,线性MPC算法实时性及轨迹跟踪效果更好,对提高路面摊铺后处理质量有重要意义.
Abstract
The manual walking of the crawler vehicle is easy to collide with the paved road after paving,and it is difficult to adjust the position of the vehicle at the end point.Therefore,a walking controller for crawler vehicles based on MPC is de-signed.The controller carries out trajectory planning based on quartic polynomial,and designs the objective function accord-ing to collision constraints and terminal stationarity.Based on the quartic polynomial planning results,the nonlinear MPC al-gorithm and linear MPC coupled PID algorithm are used for trajectory tracking simulation comparison.The simulation results show that the controller meets the requirements of collision constraints and trajectory stability,and the linear MPC algorithm has better real-time performance and trajectory tracking effect.This study is of great significance for improving the quality of post-pavement processing.
关键词
履带车步进行驶/轨迹规划/轨迹跟踪/MPC/仿真验证Key words
crawler vehicle walking/trajectory planning/tracking/MPC/simulation引用本文复制引用
出版年
2024
NETL
NSTL
维普
万方数据