摘要
以某6×6无人轮式车为对象研究跟踪控制策略,使其能够自主跟踪引导车的运动轨迹,并与引导车保持一定的安全距离。首先研究了采用参数样条曲线建立柔性虚拟曲杆模型的方法,并提出了虚拟曲杆的弹性力控制策略;然后又引入一种轨迹跟踪控制律,实现了对6×6无人轮式车跟踪运动的双闭环控制。最后通过Matlab仿真和实车试验对该控制策略进行了验证,结果表明:该控制策略能够保证车辆稳定行驶,并有效地提高了跟踪精度。
The paper investigates the tracking control strategy for 6 × 6 unmanned wheeled vehicle to make it track the trajectory of the leader vehicle precisely under the condition of keeping a safe distance. Firstly,the method of establishing a flexible virtual curved bar model with parameter spline curve is studied and a control strategy based on virtual curved bar elastic force is proposed. Then a trajectory tracking control law is introduced to realize the double closed loop control of 6 × 6 unmanned wheeled vehicle's tracking motion. Finally the control strategy is verified by Matlab simulation and real vehicle test. The results show that the vehicle tracking control strategy can guarantee the stability of the vehicle motion and can effectively improve the tracking precision.
出处
《装甲兵工程学院学报》
2015年第4期62-67,共6页
Journal of Academy of Armored Force Engineering
基金
军队科研计划项目
关键词
轮式车
跟踪控制
参数样条
虚拟曲杆
wheeled vehicle
tracking control
parameter spline
virtual curved bar
