基于模糊算法的无人驾驶压路机自动碾压控制  

Automatic Rolling Control for Unmanned Vibratory Roller Based on Fuzzy Algorithm

作　　者：卞永明[1] 方晓骏 杨濛[1] 赵柱[1] 

机构地区：[1]同济大学机械与能源工程学院,上海201804

出　　处：《同济大学学报（自然科学版）》2017年第12期1830-1838,共9页Journal of Tongji University:Natural Science

基　　金：中央高校基本科研业务费专项资金

摘　　要：针对无人驾驶振动压路机在自动碾压作业时的路径跟踪误差影响整体碾压作业质量的问题,提出了基于模糊算法的路径跟踪控制方法.建立了压路机整体运动学模型和液压动力转向系统模型,设计了基于预瞄的航向跟踪算法和模糊比例-积分-微分(PID)控制器来实现对自动碾压误差的控制.通过无人驾驶压路机路径跟踪控制模型的仿真和现场自动碾压试验对自动碾压控制性能的验证,表明基于预瞄的航向跟踪模糊PID控制较普通PID控制在无人驾驶振动碾压过程中具有更好的控制性能,显示了模糊控制算法的有效性与优越性.A path following control method based on fuzzy algorithm was proposed to improve the unmanned vibratory roller＇s operation quality that was influenced by the path following error during automatic vibration rolling. The kinematic model of the vibratory roller as well as the hydraulic power steering model was developed. The heading following algorithm based on the look-ahead scheme and the fuzzy proportionintegralderivative（ PID） controller was designed to control the automatic rolling error. The simulation of the path following control model and the field automatically rolling experiments verified the control performances of the automatic rolling for the unmanned vibratory roller. The results show that the heading following fuzzy PID control algorithm based on the look-ahead scheme has better control performances than the conventional PID algorithm and prove the effectiveness and superiority of thefuzzy control algorithm in the unmanned vibration rolling.

关 键 词：无人驾驶振动压路机 铰接液压转向 基于预瞄的航向跟踪 模糊比例-积分-微分(PID)控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]