基于滑模变结构的农机路径跟踪控制算法研究  

Research on Path Tracking Control Algorithm of Agricultural Machinery Based on Sliding Mode Variable Structure

作　　者：姜龙腾 迟瑞娟[1] 李青君 黄修炼 熊泽鑫 马悦琦 朱晓龙 Jiang Longteng;Chi Ruijuan;Li Qingjun;Huang Xiulian;Xiong Zexin;Ma Yueqi;Zhu Xiaolong(College of Engineering,China Agricultural University,Beijing 100083,China;Merchant Marine College,Shanghai Maritime University,Shanghai 201306,China)

机构地区：[1]中国农业大学工学院,北京100083 [2]上海海事大学商船学院,上海201306

出　　处：《农机化研究》2024年第2期229-234,共6页Journal of Agricultural Mechanization Research

基　　金：国家自然科学基金项目(52172396)。

摘　　要：为提高农机路径跟踪时的精确性,提出了一种基于滑模变结构的路径跟踪控制算法,并运用滑模变结构算法设计了自动驾驶控制器,通过简化农机车辆模型与线性化二自由度模型,求解出滑模变结构控制器的控制规律。通过在Simulink与CarSim中建立联合仿真模型验证控制器的可行性,结果表明:基于滑模变结构的农机路径跟踪控制算法的车辆作业转弯时横向偏差可控制在0.45m之内,实际行走路径与预设路径基本吻合,较加入预瞄模块的PID控制算法控制精度得到提高,满足自动驾驶农机路径跟踪精度及实时性的需求,可为农机路径跟踪控制的研究提供参考。In order to improve the accuracy of agricultural machinery path tracking,a path tracking control algorithm based on sliding mode variable structure is proposed in this paper.The automatic driving controller was designed based on the sliding mode variable structure algorithm,and the control law of the sliding mode variable structure controller was solved by simplifying the agricultural machinery vehicle model and the linear two-degree-of-freedom model.The feasibility of the controller is verified by establishing a co-simulation model in Simulink and CarSim.The results show that:The lateral deviation of the agricultural machinery path tracking control algorithm based on sliding mode variable structure can be controlled within 0.45m when the vehicle is turning in operation,and the actual walking path is basically consistent with the preset path.Compared with the PID control algorithm with pre-view module,the control accuracy is improved,which can meet the demand of automatic driving agricultural machinery path tracking accuracy and real-time.It provides a reference for the research of agricultural machinery path tracking control.

关 键 词：自动驾驶农机 路径跟踪 滑模变结构控制 SIMULINK CARSIM 

分 类 号：S127[农业科学—农业基础科学]