High-ground-clearance 4WID sprayer path tracking hierarchical control method considering sliding influence of driving wheel

Abstract

The invention discloses a high-ground-clearance 4WID sprayer path tracking hierarchical control method considering the sliding influence of a driving wheel. The model prediction controller takes the real-time position information of the spraying machine as a state quantity, takes the vehicle speed and the steering angle of the spraying machine as control quantities, and establishes a target function with the purpose of minimizing the deviation between a reference value and an actual value. Replacing the control quantity with the increment of the control quantity, and setting a constraint condition to limit the control quantity and the increment of the control quantity; the lower-layer controller considers the influence of tire slippage on the control stability and path tracking control precision of the spraying machine, adopts a fuzzy controller and an integral separation type PID controller to control the slippage rate of the tires, and prevents the phenomenon of pit digging caused by slippage and idling of the tires. According to the scheme, the sprayer can effectively perform plant protection operation under complex working conditions, and the control stability and the tracking control precision when the sprayer tracks an expected path are improved.

Description

technical field [0001] The design of the invention belongs to the field of automatic driving of unmanned sprayers, and in particular relates to a path tracking and layered control method for a 4WID sprayer with high ground clearance considering the influence of driving wheel slip. Background technique [0002] The country is unstable without agriculture, the people are uneasy without food, and the food industry is the foundation. Promoting the development of agricultural science and technology and realizing agricultural modernization is the key to ensuring food security. Various types of clean energy are used, the vehicle structure is more reasonable, and it can operate unmanned, and intelligent agricultural machinery equipment has gradually become the trend of future agricultural machinery development. The high ground clearance sprayer has a large ground clearance, which can realize unmanned plant protection operations and become an ideal agricultural equipment for sprayin...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that under the complex working conditions of the sprayer, due to the excessive slip rate of the tire, the longitudinal adhesion of the tire is reduced, and the driving wheel is idling, which has an adverse effect on the handling stability and path tracking control accuracy of the sprayer. To solve the problem, a high-gap 4WID sprayer path tracking layered control method is proposed considering the influence of driving wheel slippage. The slip rate of the tire is controlled to ensure that the tire has a large longitudinal adhesion and effectively improve the performance of the sprayer. Handling stability and tracking control accuracy

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