一种考虑ICR纵向偏差补偿的水下履带采矿车轨迹跟踪算法  

A trajectory tracking algorithm for underwater tracked mining vehicles considering longitudinal deviation compensation

作　　者：陈昱衡 边有钢 崔庆佳 胡满江 秦洪懋 CHEN Yuheng;BIAN Yougang;CUI Qingjia;HU Manjiang;QIN Hongmao(State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,Hunan University,Changsha 410082,China;Wuxi Intelligent Control Research Institute of Hunan University,Wuxi 214072,China)

机构地区：[1]湖南大学汽车车身先进设计制造国家重点实验室,湖南长沙410082 [2]湖南大学无锡智能控制研究院,江苏无锡214072

出　　处：《中南大学学报（自然科学版）》2023年第4期1336-1343,共8页Journal of Central South University:Science and Technology

基　　金：国家重点研发计划(2021YFC2801700);湖南省自然科学基金资助项目(2021JC0010,2021JJ40086);湖南省科技重大专项(2020GK1025);湖南省科技创新计划资助项目(2020RC20260)。

摘　　要：水下履带采矿车在多金属结核矿区的稀软底质上进行采集作业时,受水动力的影响其瞬时转向中心(ICR)纵向偏移后与几何中心不再重合,故难以基于精准的运动学模型设计水下履带采矿车的轨迹跟踪算法。因而,本文提出一种基于履带车运动学模型的分散式轨迹跟踪算法以实现履带采矿车高精度路径跟踪控制。首先,通过引入虚拟转角设计水下履带采矿车的Stanley横向控制律;其次,利用无迹卡尔曼(UKF)滤波法估计的ICR纵向偏移作为纵向误差的补偿,以此设计水下履带采矿车的纵向控制律;最后,基于运动学模型计算水下履带采矿车的期望驱动轮转速。研究结果表明:引入纵向偏差补偿后的分散式轨迹跟踪算法可以精准地跟踪预设轨迹。Subjected to hydrodynamic force,there is a longitudinal position offset between instantaneous center of rotation(ICR)and geometric center of an underwater tracked mining vehicle when it tracks the acquisition trajectory on soft substrates in polymetallic nodule mining areas.So,it is a challenge to design a trajectory tracking algorithm for an underwater tracked vehicle based on accurate kinematic model.Therefore,a decentralized trajectory tracking algorithm based on a kinematic model of tracked vehicles was proposed to realize trajectory tracking control of crawler mining vehicle with high precision.Firstly,a virtual wheel angle was introduced to design the Stanley lateral control law of under tracked mining vehicle.Then,the longitudinal offset of ICR estimated by the improved unscented kalman filter(UKF)was used as the compensation of the longitudinal error,so as to design the longitudinal control law.Finally,the expected driving wheel speed of the underwater tracked vehicle was calculated based on the kinematic model.The co-simulation results show that the decentralized trajectory tracking algorithm with the introduction of longitudinal deviation compensation can accurately track the preset trajectory.

关 键 词：深海采矿装备 水下履带采矿车 轨迹跟踪 参数估计 无迹卡尔曼滤波 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]