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基于最優(yōu)控制的導(dǎo)航拖拉機(jī)速度與航向聯(lián)合控制方法
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“十二五”國家科技支撐計(jì)劃資助項(xiàng)目（2011BAD20B01,、2011BAD20B02）


Joint Control Method of Speed and Heading of Navigation Tractor Based on Optimal Control
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    摘要:

    為提高自動(dòng)導(dǎo)航拖拉機(jī)工作效率和作業(yè)質(zhì)量，以自動(dòng)變速系統(tǒng)和自動(dòng)轉(zhuǎn)向系統(tǒng)為硬件支撐,，結(jié)合最優(yōu)控制理論,，設(shè)計(jì)了基于速度和轉(zhuǎn)向角的雙參數(shù)最優(yōu)控制算法。針對(duì)耙地作業(yè)要求,，設(shè)計(jì)了直線路徑跟蹤與地頭轉(zhuǎn)彎路徑跟蹤控制器,，運(yùn)用Matlab軟件對(duì)所設(shè)計(jì)的控制器進(jìn)行了仿真分析，通過田間試驗(yàn)對(duì)所設(shè)計(jì)的控制器進(jìn)行了驗(yàn)證,。試驗(yàn)結(jié)果表明：控制器的橫向偏差小于0.12 m,，航向偏差小于1.1°，速度偏差小于0.2 m/s,，滿足自動(dòng)導(dǎo)航作業(yè)要求,。

    Abstract:

    The two-parameter optimal control method based on the speed and steering angle was designed with the optimal control theory. The automatic transmission system and the automatic steering system were developed for the automatic navigation tractor on the purpose of improving the work efficiency and the work quality. The straight path tracking controller and the turnrow turning path tracking controller were designed and simulated by the harrowing operation with the Matlab. The field test was carried out to validate the designed controller, and the results indicated that the control accuracy of the lateral deviation and the orientation deviation were less than 0.12 m and 1.1°, respectively. The speed control accuracy was less than 0.2m/s. 

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韓科立,朱忠祥,毛恩榮,宋正河,謝斌,李明生.基于最優(yōu)控制的導(dǎo)航拖拉機(jī)速度與航向聯(lián)合控制方法[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2013,44(2):165-170. Han Keli, Zhu Zhongxiang, Mao Enrong, Song Zhenghe, Xie Bin, Li Mingsheng. Joint Control Method of Speed and Heading of Navigation Tractor Based on Optimal Control[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(2):165-170.

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  • 在線發(fā)布日期: 2013-02-04
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