自主跟随车辆航向控制系统  

Heading Control System of Autonomous Following Vehicle

作　　者：丁永前[1] 王致情 林相泽[1] 毕伟平[1] 林小兰[1] 薛金林[1] 

机构地区：[1]南京农业大学江苏省现代设施农业技术与装备工程实验室,南京210031

出　　处：《农业机械学报》2015年第1期8-13,7,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：中央高校基本科研业务费专项资金资助项目(KYZ201127);江苏省农机局-南京农业大学工学院科研启动基金资助项目(6KH-0603)

摘　　要：提出了一种基于红外传感器检测相对航向角的车辆自主跟随控制系统建模和设计方法,对相对航向角的检测机构及其工作原理进行了介绍,重点讨论了基于步进电动机驱动的转向控制系统的建模方法、前轮转向角和航向角之间的关系以及相应的控制算法的设计,航向角控制系统模型的Matlab仿真结果和控制系统的实际运行结果高度吻合。结合自主改装的电动车自主跟随系统在果园路径进行了实验,实验过程中,引导车和跟随车行驶路径之间的最大横向偏差为9.2 cm,平均偏差为3.3 cm,方差为5.5 cm2。实验结果表明,基于红外传感器的车辆自主跟随控制系统能实现车辆的自主跟随,系统运行稳定可靠,体现出其在复杂农业环境中的应用前景。A kind of control system modeling and designing method for autonomous following vehicle was provided according to the relative heading angle detected by infrared sensors. The device and working principle of relative heading angle detecting device were introduced in detail. The control system modeling of the steering system driven by a stepper motor, dynamic relationship between front-wheel steering angle and relative heading angle, and the corresponding control algorithm design of the whole control system were mainly discussed. The Matlah simulation results of relative heading angle control system were highly consistent with the practical running results of the control system. The autonomous following vehicle system which was modified from electric-driven vehicles was tested in an orchard. During the test, the biggest lateral deviation of the tracks between the guiding vehicle and the following vehicle was 9.2 cm, the average deviation was 3.3 cm and the variance was 5.5 cm^2. The experimental results showed that the designed autonomous following vehicle system can run stably and reliably, reflected its application prospects in complex agricultural environment.

关 键 词：车辆自主跟随 航向角 控制系统 红外传感器 

分 类 号：S123[农业科学—农业基础科学] TP702[自动化与计算机技术—检测技术与自动化装置]