Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Path tracking control and adjustment method for expressway unmanned motor sweeper
The invention relates to the technical field of kinematics research, in particular to a path control and adjustment method for a highway unmanned sweeper. The invention provides a high-speed unmanned sweeper path control and adjustment method, and the method comprises the steps: building an unmanned sweeper path tracking hierarchical kinematics model, and enabling an upper-layer kinematics model to serve as a prediction model of a model prediction control algorithm; converting a solving problem of future control increment into an optimal solution problem of quadratic programming by setting an optimal objective function and constraint conditions, and calculating an optimal rotation angle and speed control quantity; in the lower-layer control, the control quantity obtained by the upper-layer control is mapped to the corner and speed control quantity of four wheels through a lower-layer kinematic model, and the path tracking control of the unmanned sweeper is realized by applying a fuzzy PID algorithm; according to the method, the track of the expressway unmanned sweeper can be accurately tracked, the controlled quantity can be tracked, and the method has great significance in improving the path tracking accuracy of the expressway unmanned sweeper.
本发明涉及运动学研究技术领域，尤其是涉及一种高速公路无人清扫车的路径控制调整方法。本发明提出一种高速无人清扫车路径控制调整方法，该方法通过建立无人清扫车路径跟踪分层运动学模型，并将上层运动学模型作为模型预测控制算法的预测模型，通过设定最优目标函数和约束条件将未来控制增量的求解问题转换为二次规划的最优解问题，计算出最优转角和速度控制量；下层控制中，通过下层运动学模型，将上层控制得到的控制量映射到四轮的转角和速度控制量，应用模糊PID算法，实现无人清扫车的路径跟踪控制；本发明能够对高速公路无人清扫车轨迹实现准确跟踪，并且能进行控制量的跟踪，对于提高高速公路无人清扫车的路径跟踪准确度具有巨大意义。
Path tracking control and adjustment method for expressway unmanned motor sweeper
The invention relates to the technical field of kinematics research, in particular to a path control and adjustment method for a highway unmanned sweeper. The invention provides a high-speed unmanned sweeper path control and adjustment method, and the method comprises the steps: building an unmanned sweeper path tracking hierarchical kinematics model, and enabling an upper-layer kinematics model to serve as a prediction model of a model prediction control algorithm; converting a solving problem of future control increment into an optimal solution problem of quadratic programming by setting an optimal objective function and constraint conditions, and calculating an optimal rotation angle and speed control quantity; in the lower-layer control, the control quantity obtained by the upper-layer control is mapped to the corner and speed control quantity of four wheels through a lower-layer kinematic model, and the path tracking control of the unmanned sweeper is realized by applying a fuzzy PID algorithm; according to the method, the track of the expressway unmanned sweeper can be accurately tracked, the controlled quantity can be tracked, and the method has great significance in improving the path tracking accuracy of the expressway unmanned sweeper.
本发明涉及运动学研究技术领域，尤其是涉及一种高速公路无人清扫车的路径控制调整方法。本发明提出一种高速无人清扫车路径控制调整方法，该方法通过建立无人清扫车路径跟踪分层运动学模型，并将上层运动学模型作为模型预测控制算法的预测模型，通过设定最优目标函数和约束条件将未来控制增量的求解问题转换为二次规划的最优解问题，计算出最优转角和速度控制量；下层控制中，通过下层运动学模型，将上层控制得到的控制量映射到四轮的转角和速度控制量，应用模糊PID算法，实现无人清扫车的路径跟踪控制；本发明能够对高速公路无人清扫车轨迹实现准确跟踪，并且能进行控制量的跟踪，对于提高高速公路无人清扫车的路径跟踪准确度具有巨大意义。
Path tracking control and adjustment method for expressway unmanned motor sweeper
一种高速公路无人清扫车的路径跟踪控制调整方法
LI YUE (Autor:in) / CAO KAI (Autor:in) / LUO MAN (Autor:in) / LIANG ZIXIANG (Autor:in)
29.03.2022
Patent
Elektronische Ressource
Chinesisch