基于模糊算法的农机编队转场多机协同控制方法  

Multi-machine Collaborative Control Method of Agricultural Machinery Formation Transfer Based on Fuzzy Algorithm

作　　者：魏新华[1,2] 邓屹 崔鑫宇 王晔飞 章少岑 杨家鑫 WEI Xinhua;DENG Yi;CUI Xinyu;WANG Yefei;ZHANG Shaocen;YANG Jiaxin(Key Laboratory for Theory and Technology of Intelligent Agricultural Machinery and Equipment,JiangsuUniversity,Zhenjiang 212013,China;Jiangsu Province and Education Ministry Co-sponsored Synergistic Innovation Center of Modern Agricultural Equipment,Zhenjiang 212013,China;School of Agricultural Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学智能农机装备理论与技术重点实验室,镇江212013 [2]省部共建现代农业装备与技术协同创新中心,镇江212013 [3]江苏大学农业工程学院,镇江212013

出　　处：《农业机械学报》2025年第2期48-60,共13页Transactions of the Chinese Society for Agricultural Machinery

基　　金：江苏省农业自主创新项目(CX(22)2040);江苏大学农业工程学部项目(NGXB20240105);国家重点研发计划项目(2022ZD0115804);江苏省重点研发计划项目(BE2021313)。

摘　　要：针对协同控制在农机转场场景下受复杂环境影响导致的响应速度慢、控制精度低、稳定性差、鲁棒性不足等问题,提出一种农机编队转场多机协同控制方法。搭建主机人工驾驶领航、从机自动跟随的多机协同模型,基于弗莱纳坐标转换将协同控制解耦为横向、纵向控制,采用模型预测控制算法设计纵向控制器以实现机组间相对距离保持及速度、加速度跟随,采用纯追踪算法设计横向控制器以实现从机沿主机轨迹行驶,引入模糊算法实时调整关键控制系数以实现控制效果优化。基于CarSim/Simulink平台设计多种转场典型工况对本文方法进行仿真试验分析,结果表明相比传统控制方法本文方法具备更可靠优越的性能,并基于智能拖拉机机组开展实车试验验证,结果表明机组轨迹横向误差小于0.090 m,速度误差小于0.570 m/s,相对距离误差小于0.169 m,加速度误差小于0.252 m/s^(2),均能渐进稳定满足农机编队转场实际需求。Aiming at the problems of slow response speed,low control accuracy,poor stability,and insufficient robustness caused by the influence of complex environment of collaborative control in agricultural machinery transfer scenarios,a multi-machine collaborative control method is proposed for agricultural machinery formation transfer.The multi-machine collaborative model was constructed in which the host machine drived and navigated manually and the slave machines followed automatically.Based on the Frenet coordinate transformation,the collaborative control was decoupled into horizontal and vertical control,and the longitudinal controller was designed by using the model predictive control algorithm to achieve the maintenance of the relative distance and the following of speed and acceleration among the units,and the horizontal controller was designed by using the pure tracking algorithm to achieve the slave machines to follow the trajectory of the host machine and the introduction of fuzzy algorithm adjusted the key control coefficients to optimize the control effect in real time.Based on the CarSim/Simulink platform to design a variety of transfer typical working conditions on the designed method for simulation test analysis,comparisons showed that compared with the traditional control methods it had a more reliable and superior performance,and based on the intelligent tractor unit to carry out the real vehicle test verification,the results showed that the relative speed error was less than 0.570 m/s,the relative distance error was less than 0.169 m,the acceleration error was less than 0.252 m/s^(2),the lateral error was less than 0.090 m,all of them can gradually and steadily meet the actual needs of agricultural machinery formation transfer.

关 键 词：农机转场 多机协同 纯追踪算法 模型预测控制算法 模糊算法 

分 类 号：S24[农业科学—农业电气化与自动化]