农用履带机器人轨迹跟踪控制系统设计与试验  

Design and experiment of trajectory tracking controller for agricultural tracked robot

作　　者：匡文龙 沈文龙[1,2] 姬长英[1] 田光兆[1] 顾宝兴[1] 刘朋[2] KUANG Wenlong;SHEN Wenlong;JI Changying;TIAN Guangzhao;GU Baoxing;LIU Peng(School of Engineering,Nanjing Agricultural University,Nanjing 210031,China;School of Automotive Engineering,Huai'an Vocation College of Information Technology,Huai'an Jiangsu 223003,China)

机构地区：[1]南京农业大学工学院,南京210031 [2]淮安信息职业技术学院汽车工程学院,江苏淮安223003

出　　处：《东北农业大学学报》2020年第4期78-87,共10页Journal of Northeast Agricultural University

基　　金：江苏省自然科学基金项目(BK20140729);江苏省政策引导类计划(苏北计划)(SZ-HA2019008);中央高校基本科研业务费专项(KYGX201701)。

摘　　要：为提高农用履带机器人智能化程度,设计并搭建由双侧电机驱动的机器人轨迹跟踪控制系统。在履带机器人运动学模型基础上,设计一种融合Lyapunov方法和反演滑模技术的轨迹跟踪控制律,并基于运动学约束,给出对应修正控制律。利用Simulink搭建轨迹跟踪仿真系统,结果表明,3种控制律均达到控制效果,而新提出的融合控制律收敛效果优于其他两种控制律。由电机控制器、南方S82RTK-GPS移动站、北微倾角传感器、上位机等组成轨迹跟踪控制系统,并运用融合控制律开展试验。实际试验结果表明,机器人在3种不同参考轨迹下,均可实现轨迹跟踪控制目标,验证控制系统有效性和可靠性。In order to improve the intelligence of the agricultural tracked robot,a robot trajectory tracking control system driven by a dual-motor was designed and built.Based on the kinematics model of the tracked robot,a tracking control law was designed which combined Lyapunov control and backstepping sliding mode control.Based on the kinematic constraints,the corresponding modified control law was given.A trajectory tracking simulation system was built by Simulink.The simulation results showed that all the three control laws could achieve the control effect,and the newly proposed fusion control law was better than other two control laws.A trajectory tracking control system consisting of two motor controllers,a southern S82 RTK-GPS mobile station,a north micro-inclination sensor,and a host computer was built,and the experiments were performed using the fusion control law.Practical experiments showed that the robot could achieve trajectory tracking control targets under three different reference trajectories,which verified the effectiveness of the control system.

关 键 词：履带式移动机器人 轨迹跟踪 滑模控制 运动学模型 位姿误差 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]