基于虚拟前轮反馈控制算法的履带车轨迹跟踪方案研究  

Research on trajectory-tracking scheme for tracked vehicles based on virtual front-wheel feedback control algorithm

作　　者：刘辉[1] 王振辉 陈洪月[1,2,3] 郑雨新 LIU Hui;WANG Zhenhui;CHEN Hongyue;ZHENG Yuxin(School of Mechanical Engineering,Liaoning Technical University,Fuxin 123000;Dynamics Research Center for High-end Complete Integrated Coal Mining Equipment and Big Date Analysis,China National Coal Association,Fuxin 123000;National and Local Joint Engineering Research Center of Mine Hydraulic Technology and Equipment,Liaoning Technical University,Fuxin 123000;Library of Liaoning Technical University,Fuxin 123000)

机构地区：[1]辽宁工程技术大学机械工程学院,辽宁阜新123000 [2]中国煤炭工业协会高端综采成套装备动力学测试与大数据分析中心,辽宁阜新123000 [3]辽宁工程技术大学矿山液压技术与装备国家地方联合工程研究中心,辽宁阜新123000 [4]辽宁工程技术大学图书馆,辽宁阜新123000

出　　处：《机械设计》2024年第1期117-124,共8页Journal of Machine Design

基　　金：国家自然科学基金(51874157);辽宁省教育厅基础研究项目(LJ2020JCL026);辽宁工程技术大学创新领军团队(LNTU20TD-02);辽宁省“兴辽英才计划”项目(XLYC2007131)。

摘　　要：为了提高煤矿开采环境中履带车辆轨迹跟踪控制的精度,以及减小轨迹跟踪算法的运算负荷,文中以两侧电机驱动履带车为研究对象,提出了一种基于虚拟前轮反馈控制算法的履带车轨迹跟踪方案。采用虚拟前轮反馈控制器为履带车提供参考跟踪轨迹,将前轮转向车与履带车运动轨迹结合,引入执行机构限制条件,建立了虚拟前轮车与履带车拟合的数学模型。针对虚拟前轮反馈控制所得离散参考跟踪轨迹序列点的特点,提出了一种圆弧曲线拟合方法,通过拟合离散参考跟踪轨迹点对履带车的运动控制量求解,将多变量控制问题转化为单变量控制,减小了履带车辆轨迹跟踪算法的运算负荷,实现了前轮反馈控制在履带车辆上的应用。在MATLAB软件中进行仿真试验和实车试验,并与纯跟踪算法比较,试验证明,该方案可以有效地实现履带车的高精度轨迹跟踪。In this article,in order to improve the accuracy in trajectory-tracking control of the tracked vehicle in the coalmining environment and reduce the operation load of the trajectory tracking algorithm,with the focus on the tracked vehicle driven by the electric motor on both sides,the trajectory-tracking scheme for tracked vehicles is proposed based on the virtual front-wheel feedback control algorithm.The virtual front-wheel feedback controller is used to provide reference on trajectory tracking for the tracked vehicle;in combination with the front-wheel steering car and the tracked vehicle’s movement track,the actuator restrictions are introduced to set up the mathematical model of the fitting between the virtual front-wheel car and the tracked vehicle.With the characteristics of the tracked vehicle’s trajectory-tracking discrete sequence points obtained from the virtual front-wheel feedback control taken into consideration,an arc-curve fitting method is proposed.By fitting the tracked vehicle’s trajectorytracking discrete sequence points,the control variables of the tracked vehicle’s motion are solved,and the multi-variable control is transformed into the single-variable control,thus reducing the computational load of the trajectory tracking algorithm and realizing the application of the front-wheel feedback control on the tracked vehicle.Both the simulation and the real-vehicle experiments are conducted in MATLAB.It is shown that compared with pure tracking algorithm,this algorithm can effectively achieve high accuracy in trajectory tracking of tracked vehicles.

关 键 词：无人驾驶履带车 轨迹跟踪 转向几何模型 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]