Tracked unmanned vehicle trace tracking controller design method based on kinematic model

A kinematic model and trajectory tracking technology, applied in the direction of two-dimensional position/channel control, etc., can solve the problems of lack of consideration of vehicle driving stability and tracking speed, no consideration of slipping effects, accuracy to be further verified, etc.

Active Publication Date: 2019-05-24
CHINA NORTH VEHICLE RES INST
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Problems solved by technology

And the trajectory given during the simulation is too single, generally a straight line or a circular trajectory is tracked
Therefore, the accuracy of the control algorithm when tracking complex trajectories under the condition of high-speed vehicle movement needs to be further verified.
[0004] 2. The control algorithm is mainly constructed based on the ideal vehicle kinematics model, without considering the impact of skidding on vehicle motion, and the tracking accuracy will be reduced under complex road conditions
[0005] 3. The simulation results do not reflect the changes in vehicle speed and acceleration during the tracking process. The evaluation index is only the accuracy of the tracking track, and lacks the consideration of vehicle driving stability and tracking speed

Method used

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  • Tracked unmanned vehicle trace tracking controller design method based on kinematic model
  • Tracked unmanned vehicle trace tracking controller design method based on kinematic model
  • Tracked unmanned vehicle trace tracking controller design method based on kinematic model

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Embodiment Construction

[0071] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0072] as attached figure 1 As shown, the present invention provides a method for designing a trajectory tracking controller for a tracked unmanned vehicle based on a kinematic model, and the implementation steps of the method are as follows:

[0073]The first step: establish the state space equation according to the kinematics model of the tracked vehicle considering slip;

[0074] The kinematics model of tracked vehicle considering slip is shown in formula (1.1).

[0075]

[0076] in,

[0077]

[0078] Express it as a nonlinear model as follows:

[0079]

[0080] in,

[0081] Put equation (1.3) at the working point (ξ r ,μ r ) for a first-order approximate Taylor expansion linear system, we get

[0082]

[0083] The working point (ξ r ,μ r ) into the model (1.3), the equation (1.4) subtracts the equation (1.3), and the linearizatio...

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Abstract

The invention discloses a tracked unmanned vehicle trace tracking controller design method based on a kinematic model, and belongs to the technical field of vehicle control. The method includes the steps: firstly, building a state-space equation according to the kinematic model of a slip tracked vehicle; secondly, performing standard quadratic transformation according to a set target function; finally, calculating a new control sequence through the target function optimization process by a system in a next control period T, and repeatedly performing rolling optimization to realize trace tracking control. According to the method, a built controller has good tracking capacity for continuous and discrete point paths, particularly, running speed is stabilized near expected speed in the low-speed tracking process, linear tracking steady-state errors approach to 0, and running traces are smooth.

Description

technical field [0001] The invention relates to the technical field of vehicle control, in particular to a design method of a trajectory tracking controller based on a kinematics model. Background technique [0002] At present, researchers at home and abroad have conducted a lot of research on the trajectory tracking control of crawler autonomous platforms, but there are the following deficiencies: [0003] 1. The research objects are all small crawler-type mobile robots moving at low speed, and the simulation speed does not exceed 2m / s. And the trajectory given during the simulation is too single, generally a straight line or a circular trajectory is tracked. Therefore, the accuracy of the control algorithm in tracking complex trajectories under the condition of high-speed vehicle movement needs to be further verified. [0004] 2. The control algorithm is mainly constructed based on the ideal vehicle kinematics model, without considering the impact of skidding on vehicle ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 李胜飞汪洋项燊苏波
Owner CHINA NORTH VEHICLE RES INST
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