摘要
建立深海履带车运动学和路径偏差模型,并针对履带车在工作环境中出现的路径偏差问题提出一种新的路径跟踪算法。基于履带车的行走动力约束,路径跟踪算法中引入线速度和角速度中间变量,避免了由于履带车驱动轮角速度突然变化所导致的系统失稳。同时,为提高系统的响应时间,算法中增加与PID控制类似的比例环节,利用李雅普诺夫法证明控制系统的稳定性,并对深海采矿2种典型期望工作路径的路径跟踪进行仿真。研究结果表明:所提出的新的路径跟踪算法具有良好的快速性和稳定性,能够满足深海采矿履带车的行走控制要求,保证履带车良好的行走性能。
The kinematic and position error model of the deep sea tracked vehicle was established, and a new path tracking control algorithm was proposed to solve the path error problem of tracked vehicle during working. Based on the dynamic constraints, two intermediate variables were introduced in the control algorithm to avoid the systematic instability due to abrupt change in angular velocity of the vehicle sprocket. To improve the response time of the system, a proportional element was introduced in the algorithm. Meanwhile, the stability of the control system was proved using Lyapunov method, and a series of simulations of tracking two typical deep sea mining desired paths were carried out. The results show that the suggested algorithm is valid and can meet the control requirement; therefore, the walking performance of the tracked vehicle is ensured.
出处
《中南大学学报(自然科学版)》
EI
CAS
CSCD
北大核心
2015年第2期472-478,共7页
Journal of Central South University:Science and Technology
基金
国家自然科学基金资助项目(51074179)
国家高技术研究发展计划(863计划)项目(2012AA091201)~~
关键词
深海
履带车
路径跟踪
算法
deep sea
tracked vehicle
path tracking
algorithm