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考虑转向延迟的拖拉机纵向和横向动力学解耦控制研究

Research on decoupling control for the longitudinal and lateral dynamics of a tractor considering steering delay.

作者信息

Miao Hequan, Diao Peisong, Xu Guangfei, Yao Wenyan, Song Zhicai, Wang Wenjun

机构信息

College of Agricultural Engineering and Food Science, Shandong University of Technology, Zhangdian District, Zibo, 255000, Shandong, China.

Liaocheng Academy of Agricultural Sciences, Liaocheng, China.

出版信息

Sci Rep. 2022 Aug 17;12(1):13997. doi: 10.1038/s41598-022-18335-0.

DOI:10.1038/s41598-022-18335-0
PMID:35977990
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9385664/
Abstract

To enhance the efficiency of tractor operation, the longitudinal and lateral dynamic control of a self-driving tractor is studied in this paper, and a control system that decouples control of the longitudinal and lateral movement of the tractor is proposed. The trajectory controller calculates the desired speed and desired yaw rate signals of each subsystem, and a PID controller regulates the longitudinal speed of the tractor. A pure pursuit algorithm calculates the desired front wheel angle of the tractor. To decrease the system time delay in the automatic steering system, an automatic steering scheme based on improved Smith predictive control is proposed. Through decoupling control of the longitudinal and lateral controllers, the tractor's path tracking performance is assured.

摘要

为提高拖拉机作业效率，本文研究了自动驾驶拖拉机的纵向和横向动态控制，并提出了一种对拖拉机纵向和横向运动控制进行解耦的控制系统。轨迹控制器计算每个子系统的期望速度和期望偏航率信号，PID控制器调节拖拉机的纵向速度。纯追踪算法计算拖拉机的期望前轮转角。为减少自动转向系统中的系统时间延迟，提出了一种基于改进型史密斯预测控制的自动转向方案。通过纵向和横向控制器的解耦控制，确保了拖拉机的路径跟踪性能。

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