高地隙四轮独立驱动喷雾机路径跟踪与防侧翻控制  

Path tracking and anti-rollover control of high gap four-wheel independent drive sprayer

作　　者：刘国海[1] 张贺 张多[1] 沈跃[1] 王子杰 LIU Guohai;ZHANG He;ZHANG Duo;SHEN Yue;WANG Zijie(School of Electrical Information Engineering,Jiangsu University,Zhenjiang,Jiangsu 212013,China)

机构地区：[1]江苏大学电气信息工程学院,江苏镇江212013

出　　处：《江苏大学学报（自然科学版）》2023年第6期657-664,共8页Journal of Jiangsu University：Natural Science Edition

基　　金：国家自然科学基金资助项目(51975260)。

摘　　要：基于喷雾机的运动学模型分别构建了路径跟踪控制以及防侧翻控制.上层采用的模型预测控制(MPC)根据喷雾机的当前状态以及期望路径来输出喷雾机的期望转向角以及车速,实现轨迹跟踪控制.下层控制器通过引入横向荷载转移率(LTR)作为衡量侧倾的指标来判断车辆状态是否产生侧倾,通过引入模糊控制器来对转向角进行补偿,进而控制LTR稳定在某一阈值,使喷雾机在轨迹跟踪的过程中既具有较好的控制精度又具有较好的行驶稳定性,保证喷雾机不发生侧倾.通过ADAMS/MATLAB的联合仿真结果表明:在复杂的道路条件下喷雾机采用防侧翻控制时,LTR可以控制在0.5以内,并且具有较高的轨迹跟踪精度,安全性得到了提高.The path tracking control and the anti-rollover control were respectively constructed based on the kinematic model of sprayer.In the upper layer,the model predictive control(MPC)was used to output the desired steering angle and speed of the sprayer based on the current state of the sprayer and the desired path to achieve trajectory tracking control.The lower layer controller was used to determine whether the vehicle state produced rollover by introducing lateral load transfer rate(LTR)as rollover measure index,and the LTR was controlled by introducing a fuzzy controller to achieve the control of lateral acceleration and stabilize the LTR at a certain threshold value.The sprayer was controlled with better control accuracy and driving stability in the process of trajectory tracking and was ensured without rollover.The joint simulation results of ADAMS/MATLAB show that by anti-rollover control,the LTR of the sprayer can be controlled within 0.5 under complex road conditions with high trajectory tracking accuracy and improved safety.

关 键 词：高地隙喷雾机 四轮独立驱动 路径跟踪 模型预测控制 防侧翻控制 

分 类 号：S24[农业科学—农业电气化与自动化]