Design Method of Harvester Path Tracking Controller Based on Adaptive Model Predictive Control

A technology of self-adaptive model and predictive control, applied in the direction of self-adaptive control, general control system, control/regulation system, etc., can solve the problem of large hysteresis of harvester, and achieve the effect of solving large hysteresis.

Active Publication Date: 2022-04-12
SOUTHEAST UNIV
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a design method of a harvester path tracking controller based on adaptive model predictive control, which can effectively solve the delay problem caused by the large lag of the harvester, improve the selection of the prediction time domain and further Improve path tracking performance

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  • Design Method of Harvester Path Tracking Controller Based on Adaptive Model Predictive Control
  • Design Method of Harvester Path Tracking Controller Based on Adaptive Model Predictive Control
  • Design Method of Harvester Path Tracking Controller Based on Adaptive Model Predictive Control

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Embodiment Construction

[0044] A design method of a harvester path tracking controller based on adaptive model predictive control, comprising the following steps:

[0045] Step 1: Establish the three-degree-of-freedom kinematics model of the harvester, the specific method is as follows:

[0046] The mathematical models of model predictive control include dynamic models and kinematic models. The kinematics model is suitable for low-speed occasions. Since the operating speed of the harvester is usually lower than 3.5m / s, the present invention establishes a three-degree-of-freedom kinematics model with dual rear wheels supporting steering and dual front wheels driving. In the navigation coordinate system, the kinematics model of the harvester is expressed as

[0047]

[0048] In the formula, (x, y) is the center coordinate of the front axis of the harvester; is the navigation angle of the vehicle body; v is the driving speed of the harvester; δ is the steering angle of the rear wheels; L is the wh...

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Abstract

The invention discloses a design method of a harvester path tracking controller based on adaptive model predictive control, comprising the following steps: (1) establishing a three-degree-of-freedom kinematics model of the harvester; (2) taking the steering angle as a control variable, Design the model predictive control algorithm; (3) use the improved particle swarm optimization algorithm to adjust the parameters of the prediction time domain under different paths and speeds; (4) select the working mode according to the path and driving speed to obtain the corresponding prediction time domain. The invention can effectively solve the delay problem caused by the large lag of the harvester, improve the selection of the prediction time domain and further improve the path tracking effect.

Description

technical field [0001] The invention relates to the technical field of autonomous driving of agricultural vehicles, in particular to a design method of a harvester path tracking controller based on adaptive model predictive control. Background technique [0002] With the rapid development of navigation and control technology, the degree of automation and intelligence of agricultural machinery has been continuously improved, which is the prerequisite for the realization of precision agriculture. Autonomous agricultural machinery can greatly increase productivity, reduce production costs and energy consumption, and benefit the environment by improving efficiency, reliability, and precision, and reducing the need for human intervention. Path-following control is the key technology of autonomous technology, which enables the vehicle to effectively track a desired path and complete the agricultural operation requirements. [0003] Pure tracking control methods are widely used in...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 王立辉张月新汤新华
Owner SOUTHEAST UNIV
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