基于模型预测的插秧机路径跟踪控制算法

迟瑞娟; 熊泽鑫; 姜龙腾; 马悦琦; 黄修炼; 朱晓龙

基于模型预测的插秧机路径跟踪控制算法

中国农业大学工学院

基金项目:

国家自然科学基金项目(52172396)

详细信息

作者简介:
迟瑞娟(1969—),女,副教授,主要从事车辆机电控制及智能化研究,E-mail:chiruijuan@cau.edu.cn

中图分类号: S223.91
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出版历程
- 收稿日期: 2021-12-15
- 刊出日期: 2022-11-24

Path Tracking Control Algorithm of Transplanter Based on Model Prediction

College of Engineering, China Agricultural University

摘要

摘要: 为了提高自动驾驶插秧机路径跟踪更高频的控制，本文提出一种基于模型预测的路径跟踪控制方法。以模型预测算法为基础设计自动驾驶控制器，通过简化农机车辆模型、线性化运动学方程、制定约束量，实现以当前状态量p=(x,y,θ)预测下一时刻的车辆状态，控制自动驾驶插秧机沿参考路径行走。通过在Matlab中建立仿真模型验证控制器的可行性，结果表明：直线路径跟踪横向偏差小于0.02 m,航向偏差小于0.08°,曲线路径横向偏差平均值为0.022 m、航向偏差平均值为0.699°,可用于实车试验。另外，以水稻插秧机为试验平台，通过设置不同车速验证算法的鲁棒性，直线路径跟踪平均横向、航向偏差分别为0.021 m、6.187°,曲线路径跟踪平均横向、航向偏差分别为0.450 m、10.107°,可满足自动驾驶插秧机路径跟踪精度及实时性需求，为农机路径跟踪控制研究提供了参考。
- 插秧机 /
- 自动驾驶 /
- 路径跟踪 /
- 模型预测
Abstract: In order to improve the higher frequency control of path tracking of automatic rice transplanter, a path tracking control method was proposed based on model prediction. The automatic driving controller was designed based on the model prediction algorithm. By simplifying the model of the agricultural machinery vehicle, linearizing the kinematic equation and formulating the constraint quantity, the current state quantity p=（x,y,θ） can predict the vehicle state at the next time and control the automatic rice transplanter to walk along the reference path. The feasibility of the controller was verified by establishing a simulation model in Matlab. The results showed that the lateral deviation of the straight-line path tracking was less than 0.02 m, the heading deviation was less than 0.08°, the average value of the lateral deviation of the curve path was 0.022 m, and the average value of the heading deviation was 0.699°, which can be used for the actual vehicle test. In addition, taking the rice transplanter as the test platform, the robustness of the algorithm was verified by setting different vehicle speeds. The average horizontal and heading deviations of straight-line path tracking were 0.021 m and 6.187°, respectively, and the average horizontal and heading deviations of curve path tracking were 0.450 m and 10.107°, respectively, which can meet the needs of the automatic driving rice transplanter for path tracking accuracy and real-time performance, and provide a reference for the research of agricultural machinery path tracking control.
- transplanter /
- automatic driving /
- path tracking /
- model prediction

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参考文献(28)

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