震源车无人驾驶控制算法设计与应用  

Design and Application of the Unmanned Driving Control Algorithm for the Vibroseis Vehicle

作　　者：刘鹏涛 汪首坤[1,2] 王军政[1,2] 雷涛 法炜[3] 韩中华 LIU Pengtao;WANG Shoukun;WANG Junzheng;LEI Tao;FA Wei;HAN Zhonghua(State Key Laboratory of Intelligent Control and Decision of Complex Systems,Beijing Institute of Technology,Beijing 100081;Key Laboratory of Servo Motion System Drive and Control,Ministry of Industry and Information Technology,Beijing Institute of Technology,Beijing 100081;BGP INC.,China National Petroleum Corporation,Zhuozhou 072750)

机构地区：[1]北京理工大学复杂系统智能控制与决策国家重点实验室,北京100081 [2]北京理工大学伺服运动系统驱动与控制工信部重点实验室,北京100081 [3]中国石油集团东方地球物理勘探有限责任公司,涿州072750

出　　处：《机械工程学报》2022年第6期211-220,共10页Journal of Mechanical Engineering

基　　金：国家重点研发计划(2019YFC1511401);国家自然科学基金(6110315)资助项目。

摘　　要：为满足震源车无人驾驶作业需求,设计出一套符合其工作特点的无人驾驶系统,并对其中的关键技术问题开展研究。首先,进行系统的设计与搭建。其次,针对铰接车结构特点,对震源车进行运动学分析与建模;提出基于转向几何约束的局部纠偏路径规划算法,解决了工作点偏离路径问题;设计出基于运动学模型的模型预测控制算法用于车辆路径跟踪,提高了震源车路径跟踪精度;提出工作点定位误差补偿算法,减小了地形因素带来的工作点定位误差;设计出一种新的跟车车距解算算法,保证了编队作业时的车辆安全。最后,进行实车测试与野外实际生产测试,实车测试结果验证了所提出算法的有效性,野外生产数据表明该系统可将震源车作业效率提高15%,精度提高57%。In order to meet the operation demand of the vibroseis vehicle in the case of unmanned driving,an unmanned driving system that meets the working characteristics of the vibroseis vehicle is designed,and the key technical problems are studied.Firstly,the system is designed and built.Secondly,according to the structural characteristics of articulated vehicle,the kinematic analysis and modeling of the vibroseis vehicle are carried out.A local path planning algorithm based on steering geometry constraint is proposed to solve the problem of work point deviation.A model predictive control algorithm based on the kinematic model is designed for vehicle path tracking to improve the path tracking accuracy of the vibroseis vehicle.A compensation algorithm for positioning error of the working point is proposed to reduce the positioning error caused by terrain factors.A new car following distance calculation algorithm is designed to ensure vehicle safety during formation operation.Finally,the real-vehicle experiment and field production test are carried out.The experiment results verify the effectiveness of the proposed algorithms.And the field production data shows that the system can improve the work efficiency of the vibroseis vehicle by 15% and the accuracy by 57%.

关 键 词：可控震源 无人驾驶 路径跟踪 定位补偿 车距解算 

分 类 号：P631.437[天文地球—地质矿产勘探] TP273[天文地球—地质学]