无人驾驶单钢轮碾压机路径跟踪仿真及试验研究  

Simulation and Experimental Research of Path Tracking for Unmanned Single-drum Rollers

作　　者：段方正 徐武彬[1,2] 樊佳铭 刘世航 邓林嘉 程杰 彭宏振 Duan Fangzheng;Xu Wubin;Fan Jiamin

机构地区：[1]广西科技大学机械与汽车工程学院 [2]广西土方机械协同创新中心 [3]广西柳工机械股份有限公司 [4]中铁大桥局第七工程有限公司

出　　处：《工程机械》2024年第10期28-33,I0018,共7页Construction Machinery and Equipment

基　　金：广西科技重大专项项目(桂科AA22068064);广西科技计划项目(桂科AD22080042);广西重点研发计划项目(桂科AB22035066);广西研究生教育创新计划(YCSW2023487)。

摘　　要：针对无人驾驶单钢轮碾压机在碾压工况下稳定跟踪等问题,提出一种分布式模型预测控制(DMPC)路径跟踪控制方法,并对其进行仿真分析和整车试验验证。仿真结果表明,与传统MPC中表现较好的NMPC相比,DMPC的最大横向误差和平均横向误差分别降低了76.33%和73.99%。整车试验结果表明,与传统MPC中表现较好的LMPC相比,DMPC的平均横向误差降低了0.43%,铰接角变化降低了9.4%。In view of issues such as stable tracking of unmanned single-drum rollers under rolling conditions,a path tracking control method of distributed model predictive control(DMPC)is proposed,and simulation analysis and overall vehicle test verification are carried out.The simulation results show that,com pared with NMPC,which performs better in the traditional MPC,the maximum lateral error and average lateral error are reduced by 76.33%and 73.99%,respectively.The over all vehicle test results show that,compared with LMPC,which performs better in the traditional MPC,the average lateral error is reduced by 0.43%,and the articulation angle variation is reduced by 9.4%.

关 键 词：单钢轮碾压机 路径跟踪 模型预测控制 

分 类 号：U415.521[交通运输工程—道路与铁道工程] TP391.9[自动化与计算机技术—计算机应用技术]