考虑轨迹跟踪性能与经济性的无人驾驶HMCVT拖拉机分层协同控制策略研究  

Hierarchical Cooperative Control Strategy of Unmanned HMCVT Tractor Considering Trajectory Tracking Performance and Economy

作　　者：徐立友 陶源[1] 张俊江 温昌凯 王东青 刘孟楠[2] 闫祥海 XU Liyou;TAO Yuan;ZHANG Junjiang;WEN Changkai;WANG Dongqing;LIU Mengnan;YAN Xianghai(College of Vehicle and Traffic Engineering,Henan University of Science and Technology,Luoyang 471003,China;YTO Group Co.,Ltd.,Luoyang 471039,China;College of Engineering,China Agricultural University,Beijing 100083,China)

机构地区：[1]河南科技大学车辆与交通工程学院,洛阳471003 [2]中国一拖集团有限公司,洛阳471039 [3]中国农业大学工学院,北京100083

出　　处：《农业机械学报》2025年第2期61-72,123,共13页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2022YFD2001203);河南省高校科技创新团队支持计划项目(24IRTSTHN029);中原科技创新领军人才支持计划项目(244200510043)。

摘　　要：无人驾驶拖拉机在轨迹跟踪的过程中以跟踪性能为主,忽视作业能耗导致经济性较差。为此提出了一种考虑经济性与轨迹跟踪性能的分层协同控制策略。首先以纵向偏差和横向偏差为目标、以加速度和前轮转角速度为约束,采用模型预测控制算法建立轨迹跟踪系统,其次以发动机燃油消耗率和液压机械无级变速器传动效率比为优化目标,建立基于外部参数优化的二元调节经济性控制策略。在此基础上,以拖拉机下一时刻预测速度和当前拖拉机犁耕阻力为传递变量,融合轨迹跟踪系统、经济性控制策略形成分层协同控制策略。采用纯跟踪算法与一元调节经济性控制策略作为对比策略,基于Matlab仿真平台对该分层协同控制策略进行仿真试验,并通过硬件在环试验平台验证了该分层协同控制策略的有效性,结果表明:与对比策略相比,分层协同控制策略有效减小了无人驾驶拖拉机轨迹跟踪偏差,提高了拖拉机经济性,速度方差降低36.7%,纵向跟踪偏差减小89.8%,横向跟踪偏差减小91.7%,拖拉机油耗量减小11.8%。Most of the unmanned tractors in the process of trajectory tracking focus on the tracking performance,ignoring the operational energy consumption resulting in poor economy.Aiming at the above problems,a layered collaborative control strategy that considered economy and trajectory tracking performance was proposed.Firstly,the trajectory tracking system was established by model predictive control algorithm with longitudinal deviation and transverse deviation as the target and acceleration and front wheel angular speed as the constraints,and secondly,the binary regulating economic control strategy based on external parameter optimization was established by taking the ratio of engine fuel consumption rate and hydro-mechanical CVT transmission efficiency as the optimization target.On this basis,the trajectory tracking system and economic control strategy were integrated to form a hierarchical cooperative control strategy with the predicted speed of the tractor at the next moment and the current plow resistance of the tractor as the transfer variables.Pure tracking and one-dimensional economic control strategy were used as the comparison strategy,and the cooperative control strategy was simulated based on the Matlab simulation platform,and the effectiveness of the cooperative control strategy was verified by the hardware-in-the-loop test platform.The results showed that compared with the comparison strategy,the layered cooperative control strategy effectively reduced the trajectory tracking deviation of the unmanned tractor and improved the tractor's economy,the speed variance was reduced by 36.7%,the longitudinal tracking deviation was reduced by 89.8%,the lateral tracking deviation was reduced by 91.7%,and the tractor fuel consumption was reduced by 11.8%.

关 键 词：无人驾驶拖拉机 液压机械无级变速器 模型预测控制算法 轨迹跟踪 协同控制策略 

分 类 号：S219.4[农业科学—农业机械化工程]