基于非线性积分快速终端滑模的拖拉机路径跟踪控制方法

Tractor Path Tracking Control MethodBased on Nonlinear Integral Fast Terminal Sliding Mode

为提高拖拉机田间作业路径跟踪控制的精度,本研究提出了一种基于非线性积分快速终端滑模的拖拉机路径跟踪控制方法。首先,建立拖拉机两轮动力学模型;然后,结合非线性积分滑模面和快速终端滑模趋近律设计拖拉机路径跟踪控制器,减小了传统滑模控制普遍存在的抖振和稳态误差,使用李雅普诺夫判据检验了控制器的稳定性。通过Matlab/Simulink建立了拖拉机路径跟踪仿真模型,对所提方法进行路径跟踪仿真试验。试验结果表明,拖拉机曲线路径跟踪的最大横向偏差为0.011 m,满足拖拉机跟踪田间作业路径的精度需求。

To improve the accuracy of tractor field operation path tracking control,this study proposes a tractor path tracking control method based on nonlinear integral fast terminal sliding mode.Firstly,a two wheel dynamic model of the tractor was established.Then,combining nonlinear integral sliding mode surface and fast terminal sliding mode approaching law,a tractor path tracking controller was designed.This controller reduces the common chattering and steady-state errors in traditional sliding mode control.The stability of the controller was tested using the Lyapunov criterion.A tractor path tracking simulation model was established using Matlab/Simulink and path tracking simulation experiments were conducted on the method proposed in this paper.The experimental results show that the maximum lateral deviation of tractor curve path tracking is 0.011 m,which meets the accuracy requirements of tractor tracking field operation paths.