基于驱动轮横向侧偏补偿的自动导航拖拉机改进纯追踪路径跟踪控制方法  

Improved Pure Pursuit Path Tracking Control Method for Automatic Navigation Tractor Based on Drive Wheel Lateral Deviation Compensation

作　　者：何杰[1,2] 曾鸿禧 李明锦 贺静 莫家骏 汪沛 赵润茂[1,2] HE Jie;ZENG Hongxi;LI Mingjin;HE Jing;Mo Jiajun;WANG Pei;ZHAO Runmao(Key Laboratory of Key Technology on Agricultural Machine and Equipment,Ministry of Education,South China Agricultural University,Guangzhou 510642,China;State Key Laboratory of Agricultural Equipment Technology,Guangzhou 510642,China;Guangdong Polytechnic of Industry and Commerce,Guangzhou 510550,China;Huangpu Institute of Innovation,South China Agricultural University,Guangzhou 510700,China)

机构地区：[1]华南农业大学南方农业机械与装备关键技术教育部重点实验室,广州510642 [2]农业装备技术全国重点实验室,广州510642 [3]广东工贸职业技术学院,广州510550 [4]华南农业大学黄埔创新研究院,广州510700

出　　处：《农业机械学报》2025年第2期28-37,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：华南农业大学农业装备技术全国重点实验室开放基金项目(SKLAET-202401);广东省科技计划项目(2023B0202010023);山东省重点研发科技示范工程项目(2022SFGC0202)。

摘　　要：自动导航拖拉机在侧偏侧滑等工况下路径跟踪误差大、纠偏易超调且调节时间长。为解决拖拉机侧偏侧滑工况快速纠偏问题,提出了一种基于驱动轮横向控制补偿策略的改进纯追踪路径跟踪控制方法。通过构建拖拉机的坡面侧滑模型,结合二轮车运动学模型,提出了纯追踪算法的横向控制补偿策略,对经典纯追踪算法进行改进,实现自动驾驶拖拉机精确横向补偿控制。为验证本文横向侧偏补偿改进纯追踪路径跟踪算法性能,进行CarSim/Simulink联合仿真,缓坡试验结果表明,改进后的算法在10°斜坡上的控制精度相比经典算法提升了73.6%;持续侧滑仿真,经典算法无法脱困,而改进算法在3.9 s内完成脱困,横向偏差收敛至0.01 m以内,超调量为0.14 m。此外本文还在田间试验中验证了改进算法的有效性,在相同试验条件下,进行了3次重复试验,结果表明拖拉机在所有试验中均成功脱困,试验表明平均脱困时间为7.03 s,平均最大超调量为0.054 m。试验结果表明,本文横向控制补偿策略显著提升了自动导航拖拉机在复杂工况下的控制精度和稳定性。Automatic navigation tractors experience large path tracking errors,easy overshoot in correction,and long adjustment times under conditions such as lateral deviation and sideslip.Aiming to address the problem of fast correction for lateral deviation and sideslip in tractors,an improved pure pursuit path tracking control method was proposed,based on a lateral control compensation strategy for the drive wheels.By constructing a tractor sideslip model on a slope and combining it with a two-wheel vehicle kinematic model,a lateral control compensation strategy was introduced to improve the classic pure pursuit algorithm,achieving precise lateral compensation control for autonomous tractors.To validate the performance of the proposed lateral deviation compensation improved pure pursuit path tracking algorithm,CarSim/Simulink co-simulation was designed.The results of the sloped test showed that the improved algorithm enhanced control accuracy by 73.6%on a 10°slope compared with that of the classic algorithm.In the continuous sideslip simulation,the classic algorithm failed to escape,whereas the improved algorithm completed escape within 3.9 s,with lateral deviation converging to within 0.01 m and an overshoot of 0.14 m.Field tests were conducted to verify the effectiveness of the improved algorithm,with multiple trials showing an average escape time of 7.03 s and a maximum overshoot of 0.054 m.The test results demonstrated that the proposed lateral control compensation strategy significantly improved the control accuracy and stability of autonomous navigation tractors in complex working conditions.

关 键 词：拖拉机 自动导航 路径跟踪 纯追踪算法 横向侧偏补偿 侧滑 

分 类 号：S220[农业科学—农业机械化工程] S24[农业科学—农业工程]