拖拉机自动转向最优控制方法的研究

Optimized control method for tractor automatic steering

该文讨论了拖拉机自动驾驶(自动转向)控制点的选择,并且在此基础上建立了拖拉机跟踪直线行驶时的运动学与动力学模型,分别对基于这两种模型的拖拉机自动驾驶最优控制方法进行了研究,分析了参数选择对控制方法的影响。由于拖拉机是一个具有大延迟、高度非线性的复杂系统,为了减少试验确定参数时的试凑次数,提高其最优控制参数的整定精度,提出一种融合运动学与动力学模型各自特点的控制参数的确定方法,对拖拉机自动驾驶试验时控制参数的整定具有指导意义。结果表明,所提出的方法用于拖拉机自动驾驶是可行的。

In this paper, the selection of control point of tractor automatic driving was discussed, and based on that, kinematics and dynamics models of tractor were developed. Moreover, the optimized control method for tractor automatic steering was discussed according to the two models, respectively. It is a time-lapse and nonlinear complex that tractor automatic driving system, so an arithmetic of control parameter which fuses characteristic of kinematics and dynamics model was presented in order to improve feedback control parameters precision for reducing test time, which is useful to control parameter confirming in test. The result reveals that the control technique is suitable for tractor automatic steering system.