未知环境下自行履带式作业车路径跟随控制  

Path following control of self⁃propelled tracked work vehicles in unknown environments

作　　者：潘福营 胡紫航 丁师伟 王圣腾 PAN Fuying;HU Zihang;DING Shiwei;WANG Shengteng(State Grid New Source Group Co.,Ltd.,Taian 271000,China;Shandong Taishan Pumped Storage Co.,Ltd.,Taian 271000,China)

机构地区：[1]国网新源集团有限公司,山东泰安271000 [2]山东泰山抽水蓄能有限公司,山东泰安271000

出　　处：《电子设计工程》2025年第5期81-85,共5页Electronic Design Engineering

基　　金：国网新源集团有限公司科技项目资助(SGXYKJ-2022-134)。

摘　　要：带有履带式驱动转向装置的隧道作业台车具有行动半径小、转向迅速的特点,在其行驶路径内,精准地跟随并控制各个节点是有效驱动作业台车的关键。为此,提出了未知环境下自行履带式作业车路径跟随控制方法。在未知环境中针对路径节点实施AGPS定位处理,并联合样点对象,标定行车轨迹,实现未知环境下的作业车路径规划。根据履带作业车速度参数的取值,设计LQR路径跟随控制器,求解目标控制函数,完成自行履带式作业车路径跟随控制方法的设计。实验结果表明,基于上述方法可使样点对象准确跟随作业车路径节点,并将其转向速度控制在30~40 km/h的数值区间之内。The tunnel operation trolley with a tracked drive steering device,due to its small action radius and fast turning characteristics,accurately following and controlling each node within its driving path is the key to effectively driving the operation trolley.Therefore,a path following control method for self-propelled tracked work vehicles in unknown environments is proposed.Implement AGPS positioning processing for path nodes in unknown environments,and combine sample objects to calibrate driving trajectories to achieve path planning for work vehicles in unknown environments.Design an LQR path following controller based on the speed parameters of a tracked work vehicle,solve the objective control function,and complete the design of a path following control method for a self-propelled tracked work vehicle.The experimental results show that based on the above method,the sample object can accurately follow the path node of the work vehicle and control its turning speed within the numerical range of 30-40 km/h.

关 键 词：未知环境 自行履带式作业车 路径跟随 路径控制 轨迹标定 

分 类 号：TN911[电子电信—通信与信息系统]