Method and device for controlling lateral slope transverse straight running of unmanned tracked vehicle

Abstract

The invention discloses a lateral slope transverse straight running control method and device for an unmanned tracked vehicle. Relates to the technical field of intelligent driving vehicle control. The method comprises the following steps: carrying out step response analysis on a driving system of the unmanned crawler to generate a rising curve; performing driving system identification according to the rising curve to obtain a transfer function of the driving system; transforming the transfer function into a state space model to obtain a linear model; calculating a feedback gain by using a linear model to obtain an optimal feedback gain matrix; based on the optimal feedback gain matrix, an optimal control rule of the driving system is established, and a final system control equation is obtained; and applying the final system control equation to an experimental vehicle, recording analysis data, and modifying the optimal feedback gain matrix according to feedback data. According to the invention, the adverse effect on the running control stability of the vehicle when the crawler-type four-wheel independent drive working vehicle runs linearly on a complex road surface and deviates and slides is effectively reduced.

Claims

1. A method for controlling the lateral straight-line driving of an unmanned tracked vehicle on a side slope, characterized in that: include: Step 1: Perform step response analysis on the drive system of the unmanned tracked vehicle and generate a soaring curve; Step 2: Identify the drive system according to the soaring curve generated in step 1 to obtain the transfer function of the drive system; Step 3: Convert the transfer function in step 2 into a state space model to obtain a linear model; Step 4: Calculate the feedback gain using the linear model in step 3 to obtain the optimal feedback gain matrix; Step 5: Based on the optimal feedback gain matrix in step 4, the optimal control law of the drive system is established to obtain the final system control equation; Step 6: Apply the final system control equations in step 5 to the experimental vehicle, record the analysis data, and modify the optimal feedback gain matrix in step 4 based on the data feedback.

2. The method for controlling the lateral straight-line driving of an unmanned tracked vehicle on a side slope according to claim 1, characterized in that: The step 1 includes: setting the driving system of the unmanned tracked vehicle to an independent driving mode, adjusting the motor control mode to a speed control mode, suspending the unmanned tracked vehicle in the air or placing it on a flat road, driving at different speeds, recording data when the speed changes, and generating a soaring curve.

3. The method for controlling the lateral straight-line driving of an unmanned tracked vehicle on a side slope according to claim 1, characterized in that: The step 2 includes: according to the soaring curve, using the first-order non-periodic link formula without time delay to fit, to obtain the transfer function of the drive system, the formula is as follows: Among them, K is the steady-state amplification factor, T is the time constant, and s is the independent variable input value.

4. The method for controlling the lateral straight-line driving of an unmanned tracked vehicle on a side slope according to claim 1, characterized in that: The expression of converting the transfer function in step 3 into the space state function is: Among them, ΔV is the wheel speed deviation on both sides of the vehicle, ΔU is the motor feedback control quantity, and a and b are constant coefficients; the obtained linear model is: Where A and B are coefficient matrices, and x is the system state.

5. The method for controlling the lateral straight-line driving of an unmanned tracked vehicle on a side slope according to claim 1, characterized in that: The calculation of the feedback gain in step 4 includes: defining a quadratic cost function, solving the optimal control input using the LQR algorithm, calculating the optimal control input that minimizes the performance index, and solving the Riccati equation using formula (3) and the optimal control input to obtain the optimal feedback gain matrix.

6. The method for controlling the lateral straight-line driving of an unmanned tracked vehicle on a side slope according to claim 4, characterized in that: The optimal control law of the driving system in step 5 is: u=r+ΔU=r-Kx (5); Where r is the reference input, ΔU is the feedback control, K is the feedback gain matrix, and x is the system state; Let x in equation (5) be The final system control equation is:

7. A device applied to the method for controlling the side slope lateral straight driving of an unmanned tracked vehicle according to any one of claims 1 to 6, characterized in that: include: Drive system step response analysis module: used to perform step response analysis on the drive system of the unmanned tracked vehicle and generate a soaring curve; Drive system identification module: used to identify the drive system based on the generated soaring curve and obtain the transfer function of the drive system; Establish a state space module: used to convert the transfer function into a state space model to obtain a linear model; Feedback gain module: used to calculate the feedback gain of the linear model to obtain the optimal feedback gain matrix; Control strategy module: used to establish the optimal control law of the drive system and obtain the final system control equation; Experiment and analysis module: used to apply the final system control equations to the experimental vehicle, record analysis data, and modify the optimal feedback gain matrix based on data feedback.

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