基于模糊快速滑模的农用牵引车辆直线路径跟踪控制  

Straight Line Path Tracking Control of Agricultural Tractor-trailer Based on Fuzzy Fast Sliding Mode

作　　者：黄文岳[1] 魏新华[1] 汪岸哲 吉鑫 高原源 王晔飞 施圣高 HUANG Wenyue;WEI Xinhua;WANG Anzhe;JI Xin;GAO Yuanyuan;WANG Yefei;SHI Shenggao(College of Agricultural Engineering,Jiangsu University,Zhenjiang 212013,China;Shanghai SIIC Modern Agriculture Development Co.,Ltd.,Shanghai 202183,China)

机构地区：[1]江苏大学农业工程学院,镇江212013 [2]上海上实现代农业开发有限公司,上海202183

出　　处：《农业机械学报》2024年第2期415-422,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2022ZD0115804);江苏省农业自主创新项目(CX(22)2040);江苏省重点研发计划项目(BE2021313)。

摘　　要：为解决无人驾驶牵引式农机在非结构化环境中作业时直线跟踪精度低、上线速度慢、抗干扰能力差等问题,提出了一种基于模糊快速滑模控制的农用牵引式车辆直线路径跟踪控制方法。首先利用车辆运动学模型与参考路径建立牵引车辆直线路径跟踪误差模型,并提出一种基于模糊参数整定的快速滑模直线路径跟踪方法,解决了滑模控制算法的控制器抖振与机具快速上线问题。通过Lyapunov稳定性分析可知,所设计控制方法可保证牵引机具跟踪参考路径,同时铰接角收敛至零。最后,基于Simulink仿真与实车试验对该控制方法的有效性与优越性进行测试。田间实车试验表明,使用本文控制方法时,拖车和挂车最大路径跟踪横向误差分别为0.11、0.12 m,拖车和挂车跟踪误差方差分别为0.0013、0.0015 m^(2);相较于传统基于等速趋近律设计的滑模控制器,上线时间提升约58%,最大跟踪误差减小约66%。In order to address the challenges posed by low linear tracking accuracy,slow on-line speed and poor anti-disturbance rejection ability in unmanned tractor-trailer agricultural vehicles operating in unstructured environments,a straight-line path tracking control method based on fuzzy fast power sliding mode control was designed.Firstly,a straight-line path tracking error model was developed for agricultural tractor-trailer vehicles,grounded in the vehicle’s kinematic model and the reference path.A straight-line path tracking method based on fast power sliding mode theory and fuzzy parameter adjustments was proposed,which solved the sliding mode controller chattering problem and also improved the on-line speed.Rigorous Lyapunov stability analysis was presented to affirm the stability of the closedloop system.The designed control method ensured that the tractor-trailer effectively tracked the reference path,while the articulation angle converged to zero at the same time.The effectiveness and superiority of the proposed control method were evaluated through Simulink simulations and real vehicle tests.Field experiments revealed that when employing this control method,the maximum path tracking lateral errors for the tractor and trailer were 0.11 m and 0.12 m,respectively,with tracking error variance values of 0.0013 m^(2)and 0.0015 m^(2).Compared with the traditional sliding mode controller designed based on constant reaching law,the online time was improved approximately by 58%,and the maximum tracking error was reduced roughly by 66%.The designed method can effectively improve the stability and speed of the tractor-trailer path tracking.

关 键 词：农用牵引车辆 直线路径跟踪 滑模控制 模糊控制 

分 类 号：S24[农业科学—农业电气化与自动化]