基于模糊控制的6×6滑动转向无人地面车辆轨迹跟踪控制算法  

Trajectory Tracking Control Algorithm for 6×6 Skid-steering Unmanned Ground Vehicle Based on Fuzzy Control

作　　者：闫永宝[1] 张豫南[1] 张健[1] 李年裕[1] 董万里 

机构地区：[1]装甲兵工程学院控制工程系 [2]91967 部队

出　　处：《装甲兵工程学院学报》2013年第6期65-69,共5页Journal of Academy of Armored Force Engineering

基　　金：军队科研计划项目

摘　　要：针对滑动转向无人地面车辆的轨迹跟踪控制问题,考虑其横向运动不可控的特点,采用解耦设计方法,对车辆沿x轴的纵向运动和绕z轴的旋转运动分别进行控制,根据模糊控制理论,设计了包括车辆纵向速度模糊控制器和偏航角速度模糊控制器在内的轨迹跟踪控制器。为确保运动平稳,防止车轮打滑,引入了受限控制策略,对纵向速度和偏航角速度进行PD闭环控制,保证车辆运动所需的总的纵向驱动力和偏航扭矩,并采用平均分配的方法将纵向驱动力和偏航扭矩分配为6个车轮驱动扭矩命令值。通过RecurDyn软件建立了车辆虚拟样机动力学模型,并采用联合仿真的方法对所提算法进行了仿真,结果表明该算法是有效的。Aiming at trajectory tracking control problem for skid-steering unmanned ground vehicle,in view of the characteristic of uncontrollable lateral motion,the decoupling design method is adopted to control respectively the longitudinal motion along x axis and rotation motion around z axis of vehicle.Trajectory tracking controller consisting vehicle longitudinal velocity and yaw rate fuzzy controller is designed based on fuzzy control theory.Moreover,the constrained control strategy is used to control system to ensure the smooth movement and avoid wheel slippage.Two PD controllers are used to do closed-loop control for longitudinal velocity and yaw rate so as to ensure the generalized longitudinal driving force and yaw moment.The equivalent distribution method is adopted to distribute longitudinal driving force and yaw moment into six wheel drive torque command.Dynamic model of virtual prototyping is constructed by software RecurDyn.The algorithm is simulated with the method of collaborative simulation.The simulation results show the algorithm is effective.

关 键 词：轨迹跟踪 模糊控制 PD 无人地面车辆 虚拟样机 

分 类 号：TP273+.4[自动化与计算机技术—检测技术与自动化装置]