摘要
针对由于转向机制不同导致的自动导航系统无法在轮式与履带式拖拉机上通用的问题,提出了一种基于履带转速与虚拟驱动速度和虚拟转向角转换模型的控制方法。通过对轮式车辆中性转向二轮模型和履带车辆转向模型的分析,推导出履带车辆两侧履带卷绕速度与虚拟转向角和虚拟驱动速度的表达式,为自动导航驾驶系统构建完整的反馈控制。进行实车转向试验,采集数据,对提出的转换模型进行验证。结果显示,该转换模型下理论值与实际参考值具有很好的对应关系,该转向控制方法可行。
Aiming at problem of caterpillar tractor can＇t use automatic navigation system for wheeled vehicles directly,a control method which setting on a conversion model for track speed,virtual driving speed and virtual steering angle was proposed. Through analysis between two-wheel model of wheeled vehicles neutral steering and steering kinematics model of tracked vehicle,expressions of track speed,virtual driving speed and virtual steering angle was derived,feedback control for autopilot systems was completed. Real vehicle turning experiment was carried to collect data and validate conversion model proposed. Results showed that theoretical values were in good agreement with actual reference values under the model,steering control method was feasible.
作者
付拓
毛文华
张小超
贾全
王丽丽
Fu Tuo, Mao Wenhua, Zhang Xiaochao, Jia Quan, Wang Lili(Chinese Academy of Agricultural Mechanization Sciences, Beijing 100083, Chin)
出处
《农业工程》
2018年第1期84-88,共5页
AGRICULTURAL ENGINEERING
基金
国家重点研发计划"基于总线的电动拖拉机智能终端技术研究及仪表和操控面板开发"(项目编号:2016YFD0701003-01)
湖南省战略性新兴产业-科技攻关类"基于北斗导航及大数据的智慧农业控制系统关键技术研究"(项目编号:S2016GXZLGG0101)
关键词
履带车辆
转向运动学模型
虚拟转向角
虚拟驱动速度
tracked vehicle, steering kinematics, virtual steering angle, virtual drive speed
