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基于自抗扰控制的双重转向运动控制系统设计与试验

Design and Experiment of Dual-steering Control System Based on Active Disturbance Rejection Control

  • 摘要: 为进一步提升农业机器人底盘田间转向效率,设计了一种基于自抗扰控制的农业机器人底盘双重转向运动控制系统。根据苹果种植农艺需求和行驶环境,确定了底盘组成和主要技术参数,开展了硬件系统搭建和部件选型。建立了底盘4自由度动力学模型,明确了衡量转向效率的状态空间方程。提出了一种基于自抗扰控制的双重转向控制策略,建立了Simulink动力学仿真模型,并进行了转向仿真模拟。仿真结果表明,自抗扰双重转向运动控制模型横摆角速度为0.241 rad/s,转弯半径为1.96 m,扰动恢复时间为1.04 s,相较于传统PID双重转向控制模型,该模型横摆角速度更大、转弯半径更小、恢复稳定状态更快。田间试验结果表明,底盘平均横向偏移距离为18.5 cm,滑移率为4.84%,大半径转弯测试中双重转向控制底盘的转弯半径平均值相比阿克曼转向控制分别减少0.60、0.57 m,平均转向时间减少4.70、3.41 s。小半径转弯测试中双重转向控制底盘的转弯半径平均值比阿克曼转向控制分别减少0.52、0.49 m,平均转向时间减少10.27、8.22 s。

     

    Abstract: To enhance the field turning efficiency of agricultural robot tractors, a dual-steering control system based on active disturbance rejection control was developed for the agricultural robot tractor. The system was designed to meet the agricultural technology requirements and driving environment. The composition and main technical parameters of the agricultural robot tractor were determined, and the hardware system was assembled, and the component selection was made. A 4-degree-of-freedom dynamics model of the agricultural robot tractor was established, and the state space equation of the turning efficiency was determined. A dual-steering control strategy based on active disturbance rejection control was proposed, and a Simulink dynamic simulation model was established, and the turning simulation was carried out. The simulation results indicated that the angular velocity of the active disturbance rejection dual-steering control model was 0.241 rad/s, the turning radius was 1.96 m, and the disturbance recovery time was 1.04 s. Compared with the Ackermann turning control model, the active disturbance rejection dual-steering control model had a larger angular velocity, smaller turning radius, and faster recovery time. The field experimental results showed that the average lateral displacement of the agricultural robot tractor was 18.5 cm, the slip rate was 4.84%, and the small-radius turning test showed that the turning radius of the double turning control agricultural robot tractor was reduced by about 0.60 m and 0.57 m compared with that of the Ackermann turning control, and the average turning time was reduced by 4.70 s and 3.41 s. In the large-radius turning test, the turning radius of the double turning control agricultural robot tractor was reduced by about 0.52 m and 0.49 m compared with that of the Ackermann turning control, and the average turning time was reduced by 10.27 s and 8.22 s.

     

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