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基于預(yù)見位姿信息的鉸接式車輛LQR-GA路徑跟蹤控制
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國家高技術(shù)研究發(fā)展計劃(863計劃)項目(2011AA060408)和國家重點(diǎn)研發(fā)計劃項目(2016YFC0802905)


LQR-GA Path Tracking Control of Articulated Vehicle Based on Predictive Information
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    摘要:

    針對鉸接式車輛的特殊轉(zhuǎn)向結(jié)構(gòu)和行駛特性,為提高其路徑跟蹤控制精度和反應(yīng)速度,提出了一種基于預(yù)見信息的線性二次型最優(yōu)控制(Linear quadratic regulator, LQR)策略,并應(yīng)用遺傳算法(Genetic algorithm, GA)對狀態(tài)量權(quán)重矩陣進(jìn)行優(yōu)化求解,獲得最優(yōu)LQR狀態(tài)反饋控制器,實現(xiàn)鉸接式車輛精確路徑跟蹤控制,由位置偏差、行駛方位偏差和曲率偏差來反映控制效果。ADAMS-Matlab/Simulink聯(lián)合仿真結(jié)果:位置偏差為0.03m,偏差誤差為1.3%,行駛方位偏差誤差為0.19%,曲率偏差收斂于0.003m-1。聯(lián)合仿真和試驗驗證結(jié)果表明,所提出的控制方法可有效提高控制精度,實現(xiàn)鉸接式車輛的精確、穩(wěn)定路徑跟蹤。

    Abstract:

    Articulated vehicle is one of the utmost members of intelligent mining equipment and working under terrible conditions, which has the special steering structure and driving characteristics. In order to improve the tracking accuracy and response speed of the articulated vehicle, a linear quadratic regulator (LQR) strategy based on predictive information was proposed and a genetic algorithm (GA) was used to optimize the state quantity matrix, and the optimal LQR state feedback controller was obtained to realize the precise path tracking control of the articulated vehicle. The control result was reflected by the displacement deviation, the heading deviation and the curvature deviation. In the co-simulation (ADAMS-Matlab/Simulink) results, the displacement deviation was 0.03m, the deviation error was 1.3%, the heading deviation error was 0.19%, and the curvature deviation converged to be 0.003m-1. The co-simulation and experiment results showed that the proposed control method can effectively improve the control precision. The control strategy proposed can achieve the precise and stable path tracking of articulated vehicles, which was an alternative control method.

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孟宇,汪鈺,顧青,白國星.基于預(yù)見位姿信息的鉸接式車輛LQR-GA路徑跟蹤控制[J].農(nóng)業(yè)機(jī)械學(xué)報,2018,49(6):375-384. MENG Yu, WANG Yu, GU Qing, BAI Guoxing. LQR-GA Path Tracking Control of Articulated Vehicle Based on Predictive Information[J]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(6):375-384.

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  • 收稿日期:2017-12-15
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  • 在線發(fā)布日期: 2018-06-10
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