摘要
循迹控制效果对无人碾压机的作业品质有重要影响,但其受到钢轮径向振动影响显著。针对单钢轮无人碾压机,在3种不同路面条件上,试验研究了碾压钢轮的不同振动模式对循迹精度和控制能耗的影响规律,并分析了其主要原因。结果表明:钢轮径向振动降低了碾压机与路面的附着力并诱发前轮侧滑,增大了循迹控制的偏差。采用传统比例控制,开启钢轮径向振动后,循迹偏差会增大1.1~2.4倍、控制过程能耗提高29.3%~44.6%。采用以距离误差为输入、以目标航向角为输出的外环控制,结合以航向偏差为输入、以目标方向盘转角为输出的内环控制的串级抗扰控制算法,可以有效抑制钢轮侧滑对循迹的影响,较传统比例控制提高了22.2%的循迹精度、降低了11.3%的控制能耗。
The accuracy of path-following has an important influence on the quality of unmanned roller,but it is affected significantly by the radial vibration of steel wheel.In this paper,the influences of different vibration modes on path-following accuracy and control energy consumption are studied experimentally on three different road conditions for unmanned single steel roller,and the main reasons for those changes are analyzed.The results show that the radial vibration of the steel wheel reduces the adhesion to the road surface,induces the sideslip of the steel wheel,and increases the deviation of path-following.With the traditional proportional control,path-following deviation will increase by 1.1~2.4 times and control energy consumption will increase by 29.3%~44.6%after the radial vibration of the steel wheel is opened.The cascade disturbance rejection control algorithm,which is composed of the outer loop control with distance error as input and target heading angle as output and the inner loop control with heading deviation as input and target steering wheel angle as output,can suppress the influence of front wheel slip on path-following effectively.Compared with the traditional proportional control,cascade disturbance rejection control algorithm can reduce the path-following deviation and energy consumption by 22.2%and 11.3%respectively.
作者
谢辉
王伟康
宋康
XIE Hui;WANG Weikang;SONG Kang(School of Mechanical Engineering,Tianjin University,Tianjin 300072,China)
出处
《武汉大学学报（工学版）》
CAS
CSCD
北大核心
2023年第4期470-479,共10页
Engineering Journal of Wuhan University
基金
国家重点研发计划项目(编号:2017YFE0102800)
天津市科技计划项目(编号:19ZXZNGX00050)。
关键词
无人碾压机
钢轮径向振动
循迹品质
车辆滑移
抗扰
unmanned roller
radial vibration of steel wheel
path-following quality
vehicle slip
disturbance rejection
