基于双变量PID控制算法的地下智能铲运机自主导航技术研究  

Technical Study on Autonomous Navigation of Smart Underground Scraper Based on Bivariante PID Control Algorithm

作　　者：姜勇[1] 

机构地区：[1]北京矿冶研究总院,北京100160

出　　处：《机械制造》2016年第5期19-22,31,共5页Machinery

基　　金：国家863高技术研究发展计划项目(编号:2011AA060403)

摘　　要：以智能铲运机为研究对象,建立了智能铲运机极坐标下的运动轨迹模型。针对地下智能铲运机的工作特性和控制技术要求,结合"沿墙壁"的反应式导航技术,基于PID控制算法,设计了一种自主导航双变量PID控制器。以行驶速度和转向角度为控制量,以行驶过程中的横向位置偏差和航向角偏差为反馈修正量,实现了智能铲运机的自主导航行驶。该方法在工程实践领域具有广阔的应用前景。It took the smart scrapers as the object for research to establish a kinematic trajectory model for the intelligent scrapers under polar coordinates. Aiming at the operating characteristics of the underground smart scrapers and required control technology, a bivariante PID controller featuring autonomous navigation was designed based on the PID control algorithm in combination with ＂along the wall＂ response navigation technology. It took the running speed and steering angle as the controlling quantity and took the lateral position deviation and heading angle deviation during the moving process as the feedback correction to achieve autonomous navigation of the smart scraper. This solution has broad potential applications in the field of engineering practices.

关 键 词：智能铲运机 双变量PID控制 自主导航 

分 类 号：TH123[机械工程—机械设计及理论] TD422.4[矿业工程—矿山机电]