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Agricultural and mining articulated vehicle path tracking control method

A vehicle path and tracking control technology, applied in general control systems, adaptive control, control/adjustment systems, etc., can solve problems such as frame damage and difficult handling, achieve stable heading angle, suppress vehicle body shake, and reduce iterations Calculate the effect of time

Pending Publication Date: 2021-06-15
SHANGHAI HUACE NAVIGATION TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Currently articulated vehicles are not easy to maneuver on muddy, rocky, uneven roads, and can cause frame damage when cornering with large angles

Method used

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  • Agricultural and mining articulated vehicle path tracking control method
  • Agricultural and mining articulated vehicle path tracking control method
  • Agricultural and mining articulated vehicle path tracking control method

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Experimental program
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Effect test

Embodiment 1

[0047] refer to Figure 3-Figure 4 As shown, a path following control method for agricultural and mining articulated vehicles comprises the following steps:

[0048] In the first step, enter the parameters of the articulated vehicle, including the distance from the center of the front wheel to the hinge, the distance from the center of the rear wheel to the hinge, and the distance from the GNSS antenna to the center of the wheel.

[0049] In the second step, the program starts to obtain the scheduled driving trajectory sent by the tablet to the controller. The controller performs RTK calculation based on the differential signal of the base station obtained by the GNSS board to obtain the real-time position information of the vehicle. Estimation and pose correction to obtain accurate pose information.

[0050] The third step is to calculate the lateral deviation and speed information between the vehicle and the predetermined path according to the predetermined driving trajecto...

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Abstract

The invention discloses an agricultural and mining articulated vehicle path tracking control method, which comprises the following steps of: inputting parameters of an articulated vehicle; employing a controller to perform RTK solution according to a base station differential signal obtained by a GNSS board card to obtain real-time position information of the vehicle, and perform attitude estimation and attitude correction according to the position information obtained by IMU solution to obtain accurate attitude information; when an automatic driving instruction is issued, calculating transverse deviation and speed information between the vehicle and a preset path according to a preset driving track and the current position and course of the vehicle; and calculating a target angle at the articulated position according to the transverse deviation, the course deviation, the angle at the hinged position, the feedback gain matrix and the integral coefficient of the transverse deviation. According to the agricultural and mining articulated vehicle path tracking control method, the control target parameters, the maximum rotation angle constraint and the integral coefficient are changed in real time according to the vehicle speed information and the transverse deviation information, so that the vehicle body shaking of the articulated vehicle in the automatic driving mode can be effectively inhibited, and the trajectory tracking control precision is improved.

Description

technical field [0001] The invention relates to the field of path tracking control, in particular to a path tracking control method for agricultural and mining articulated vehicles. Background technique [0002] The underground auxiliary transport vehicle is a common articulated vehicle, which generally includes a front body and a rear body, and the front body and the rear body are connected in a hinged manner. The front body of the underground auxiliary transport vehicle generally includes the frame and the diesel engine, cab, water cooling device, front drive axle, diesel tank, hydraulic oil tank and other components installed on the frame. The weight of water cooling device, front drive axle, diesel tank, hydraulic mailbox and other components, so whether the structure of the frame is reasonable is the main factor determining the dynamic performance of the underground auxiliary transport vehicle; [0003] At present, articulated vehicles are not easy to control on muddy,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 郑志达任强沈雪峰王海晶田维董光阳
Owner SHANGHAI HUACE NAVIGATION TECH
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