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基于B樣條優(yōu)化的改進(jìn)純追蹤農(nóng)機(jī)導(dǎo)航曲線跟蹤方法
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國家重點(diǎn)研發(fā)計劃項(xiàng)目(2022YFD200160103)和山東省重點(diǎn)研發(fā)計劃項(xiàng)目(2022SFGC0202)


Improved Pure Pursuit Agricultural Machinery Navigation Curve Path Tracking Method Based on B-spline Optimization
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    摘要:

    針對駕駛農(nóng)機(jī)采樣路徑平滑性對跟蹤效果的影響和曲線路徑變曲率特性導(dǎo)致跟蹤適應(yīng)性較低的問題,,提出了一種基于B樣條路徑優(yōu)化的積分補(bǔ)償模糊純追蹤控制方法。首先采用B樣條插值方法平滑優(yōu)化采樣路徑信息,;再基于行駛規(guī)律分析農(nóng)機(jī)曲率與作業(yè)速度對跟蹤控制的相互作用關(guān)系,,設(shè)計了模糊調(diào)整前視距離的純追蹤控制方法,,該方法根據(jù)前期試驗(yàn)結(jié)果采用拖拉機(jī)速度和前視路徑平均曲率模糊整定純追蹤前視距離,同時采用跟蹤橫向偏差設(shè)計前輪轉(zhuǎn)角積分補(bǔ)償,,減小穩(wěn)態(tài)誤差,。設(shè)計構(gòu)建了曲線跟蹤Simulink仿真模型并進(jìn)行了仿真試驗(yàn)。仿真結(jié)果表明,,改進(jìn)方法的平均絕對橫向偏差均值和最大絕對橫向偏差均值相較于傳統(tǒng)純追蹤控制方法降低4.8%和7.1%,。進(jìn)行了拖拉機(jī)田間正弦曲線跟蹤試驗(yàn),插值路徑對比試驗(yàn)結(jié)果表明,,路徑插值后跟蹤誤差較插值前降低75.9%,。控制算法對比試驗(yàn)結(jié)果表明,,拖拉機(jī)以速度1.0,、1.5、2.5 m/s跟蹤不同幅值正弦曲線路徑時,,采用改進(jìn)純追蹤方法平均絕對橫向偏差均值分別降低36.80%,、62.50%和61.03%,標(biāo)準(zhǔn)差均值分別降低27.8%,、24.0%和46.3%,。最后跟蹤田間隨機(jī)采樣路徑,當(dāng)速度為2.5 m/s時,,橫向偏差標(biāo)準(zhǔn)差為0.06 m,。本文方法有效提高了農(nóng)機(jī)曲線路徑跟蹤精度,滿足需要曲線作業(yè)的農(nóng)業(yè)生產(chǎn)需求,。

    Abstract:

    Aiming at the influence of the smoothness of the sampling path of driving agricultural machinery on the tracking effect and the low tracking adaptability caused by the variable curvature of the curve path, a fuzzy pure tracking control method with integral compensation based on B-spline path optimization was proposed. Firstly, B-spline interpolation method was used to smooth and optimize the sampling path information. Based on the driving law, the interaction between the curvature of agricultural machinery and the operating speed on the tracking control was analyzed, and the pure tracking control method of fuzzy adjusting the forward-looking distance was designed. According to the previous test results, the pure tracking forward looking distance was fuzzy adjusted by the tractor speed and the average curvature of the forward-looking path. At the same time, the tracking lateral deviation was used to design the front wheel angle integral compensation to reduce the steady state error. The Simulink simulation model of curve tracking was designed and constructed, and the simulation experiment was carried out. The simulation results showed that the average absolute and maximum absolute lateral deviation of the improved method were reduced by 4.8% and 7.1% compared with that of the traditional pure tracking control method. The sinusoidal curve tracking test of agricultural machinery in the field was carried out. The interpolation path comparison test results showed that the tracking error after path interpolation was reduced by 75.9% compared with that before interpolation. The control algorithm comparison test results showed that when the agricultural machinery tracked the sinusoidal path with different amplitudes at speeds of 1.0 m/s, 1.5 m/s and 2.5 m/s, the average absolute transverse deviation of the improved pure tracking method was reduced by 36.80%, 62.50% and 61.03%, and the average standard deviation was reduced by 27.8%, 24.0% and 46.3%, respectively. Finally, the random sampling path in the field was tracked. When the speed was 2.5 m/s, the horizontal deviation standard deviation was 0.06 m. This method effectively improved the accuracy of agricultural machinery curve path tracking, and met the agricultural production needs of curve operation.

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張聞宇,胡力文,王輝,張國城,羅錫文,張智剛.基于B樣條優(yōu)化的改進(jìn)純追蹤農(nóng)機(jī)導(dǎo)航曲線跟蹤方法[J].農(nóng)業(yè)機(jī)械學(xué)報,2024,55(9):42-51,,115. ZHANG Wenyu, HU Liwen, WANG Hui, ZHANG Guocheng, LUO Xiwen, ZHANG Zhigang. Improved Pure Pursuit Agricultural Machinery Navigation Curve Path Tracking Method Based on B-spline Optimization[J]. Transactions of the Chinese Society for Agricultural Machinery,2024,55(9):42-51,115.

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  • 收稿日期:2024-02-05
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  • 在線發(fā)布日期: 2024-09-10
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