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Gain switching non-linear control method for agricultural vehicle path tracking

A nonlinear control, agricultural vehicle technology, applied in the field of gain switching nonlinear control of agricultural vehicle path tracking, can solve problems such as insufficient robustness and stability

Inactive Publication Date: 2018-02-02
NANJING AGRICULTURAL UNIVERSITY
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Problems solved by technology

[0005] However, the linear time-invariant PID feedback controller has basic performance limitations, such as time domain limitations such as rise time and overshoot, and frequency range limitations such as gain and phase. This control strategy is very important for agricultural vehicle autonomous navigation control systems Increasingly required high precision, robust stability is clearly insufficient

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  • Gain switching non-linear control method for agricultural vehicle path tracking
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  • Gain switching non-linear control method for agricultural vehicle path tracking

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Embodiment Construction

[0066] The present invention will be further described below in conjunction with the accompanying drawings.

[0067] Such as figure 1 As shown, a gain switching nonlinear control method for path tracking of agricultural vehicles, including the following steps:

[0068] Step 1: Build a path-following control system for agricultural vehicles. The closed-loop transfer function of the path-following control system for agricultural vehicles is composed of the PID controller C(s) and the system model G(s) of the agricultural vehicles. The system model of the agricultural vehicles is composed of the steering system model G 0 (s) and agricultural vehicle motion model G 1 (s) composition;

[0069] Step 2: According to the actual demand of the vehicle movement, set the input of the agricultural vehicle path tracking control system as the expected path u, and the output as the actual path tracking effect y, and set the expected output at this time as y=u=1;

[0070] Step 3: Determine ...

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Abstract

The present invention discloses a gain switching non-linear control method for agricultural vehicle path tracking. The working environment of an agricultural vehicle is extremely complicated, a designed controller needs to satisfy the requirements of a stable, accurate and fast tracking path and strong robustness, and the invention particularly relates to the gain switching non-linear control method for the agricultural vehicle path tracking. According to the method, a non-linear control mode is used, an outputted vehicle pose and an inputted expected path are compared, a correct decision is made through a nonlinear controller, a control actuator drives the vehicle to follow the expected, and the precise tracking is realized. Due to the complexity and variety of agricultural vehicle motionmodels, and an adopted control measure also is flexible. The modes of gain switching and advance correction are used to achieve the high tracking accuracy of a vehicle path. By using the non-linear controller, the control effects of overshoot smaller than 5% and an adjustment time smaller than 3s are achieved, and the effect of accurate tracking is achieved.

Description

technical field [0001] The invention relates to a gain switching nonlinear control method for agricultural vehicle path tracking, and belongs to the technical field of agricultural vehicle navigation control. Background technique [0002] Autonomous navigation technology for agricultural vehicles mainly includes: navigation sensors, path planning, establishment of vehicle models, and design of path-following controllers, among which path-following control is one of the key factors that determine navigation accuracy. [0003] The field operation environment of agricultural vehicles has high requirements on the structure and performance of the system, so the design of tracking controllers is attracting more and more scholars to study. [0004] Research at home and abroad shows that the working environment of agricultural vehicles is extremely complex, and its movement is affected by many nonlinear factors such as the natural environment, soil conditions, and load changes. To ...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0246
Inventor 林相泽耿晶王祥黄帅婷薛金林郑恩来
Owner NANJING AGRICULTURAL UNIVERSITY
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