基于MPC的地下铲运机自主驾驶控制研究  

Research on MPC-based autonomous driving control of the LHD

作　　者：赵佳伟 王兆强 马思群 ZHAO Jiawei;WANG Zhaoqiang;MA Siqun(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海市201620

出　　处：《农业装备与车辆工程》2023年第7期115-119,134,共6页Agricultural Equipment & Vehicle Engineering

摘　　要：随着矿山开采工作的不断深入,操作工人的工作强度和安全风险不断提高,地下铲运机自主驾驶系统可有效缓解这一现象,全局路径规划和轨迹跟踪是解决这一问题的关键技术。对于全局路径规划问题,建立地下铲运机的行驶环境栅格地图,并基于改进遗传算法进行全局路径规划,获得适应地下铲运机行驶的最优全局路径。对于轨迹跟踪,基于地下铲运机的运动学模型,采用模型预测控制(Model Predictive Control,MPC)设计路径跟踪控制器。通过MATLAB/Simulink仿真分析,可以规划出适合地下铲运机行驶的最优全局路径,并在路径跟踪控制器的控制下,地下铲运机能有效跟踪规划出的路径,跟踪误差控制在0.2 m以内,可以实现地下铲运机的自主驾驶。As mining work continues to progress,the work intensity and safety risks of operating workers are increasing,and the autonomous driving system of the LHD can effectively alleviate this phenomenon.Global path planning and trajectory tracking are the key technologies to solve this problem.For the global path planning problem,a raster map of the driving environment of the LHD is established,and global path planning is carried out based on improved genetic algorithm to obtain the optimal global path adapted to the driving of the LHD.For the trajectory tracking problem,based on the kinematic model of the LHD,the model predictive control(MPC)is used to design the path tracking controller,and through MATLAB/Simulink simulation analysis,the optimal global path adapted to the driving of the LHD can be planned,and under the control of the path tracking controller,the LHD can effectively track the planned path,and the tracking error is controlled within 0.2 m,which can realize the autonomous driving of the LHD.

关 键 词：地下铲运机 自主驾驶 全局路径规划 改进遗传算法 路径跟踪 模型预测控制 

分 类 号：TD421[矿业工程—矿山机电] TP273[自动化与计算机技术—检测技术与自动化装置]