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在机具负载和外部干扰的影响下,农业机械的横摆角速度动力学特性会发生变化,从而导致基于位置偏差控制方法的路径跟踪性能变差.为此,提出一种基于级联式控制策略的鲁棒自适应路径跟踪控制方法.该方法将路径跟踪控制分解为横向位置控制和横摆角速度控制两个级联的控制任务来完成.在横向位置控制中,根据横向位置偏差和航向偏差,采用模糊自适应纯追踪模型确定农业机械期望的横摆角速度;在横摆角速度控制中,提出一种鲁棒自适应控制方法,使农业机械在机具负载变化或者受到外部干扰时,仍然保证横摆角速度具有期望的响应性能.仿真实验和实际的农业机械实验结果验证了所提出方法的有效性和优越性.
Under the influence of tool load and external disturbance, the dynamic characteristics of agricultural machinery’s yaw rate will change, which leads to the poor performance of path tracking based on the position deviation control method.Therefore, a cascade-based control strategy A robust adaptive path-following control method is proposed in this paper.The path-tracking control is decomposed into two cascaded control tasks of lateral position control and yaw rate control.In transverse position control, according to lateral position deviation and heading deviation, Fuzzy adaptive pure tracking model to determine the expected yaw rate of agricultural machinery; In the yaw rate control, a robust adaptive control method is proposed, so that agricultural machinery in the machine load changes or external interference, it still guarantees the yaw rate With the expected response performance.The simulation experiment and the actual agricultural machinery experimental results verify the effectiveness and superiority of the proposed method.