考虑滑移的无人履带车自适应路径跟踪控制策略

doi:10.3901/JME.2024.24.211

机械工程学报 ›› 2024, Vol. 60 ›› Issue (24): 211-225.doi: 10.3901/JME.2024.24.211

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考虑滑移的无人履带车自适应路径跟踪控制策略

吴洋^1,2, 王聪¹, 董国新³, 曾日芽⁴, 曹恺⁵, 曹东璞¹

1. 清华大学车辆与运载学院北京 100084;
2. 中南大学机电工程学院长沙 410083;
3. 北京科技大学机械工程学院北京 100083;
4. 中国北方车辆研究所北京 100072;
5. 东风悦享科技有限公司武汉 430056

收稿日期:2023-12-21 修回日期:2024-10-13 出版日期:2024-12-20 发布日期:2025-02-01
作者简介:吴洋，男，1989年出生，博士，讲师。主要研究方向为车辆动力学、非道路自动驾驶、整车智能控制等。E-mail：yangwu@csu.edu.cn;曹东璞(通信作者)，男，1978年出生，博士，教授，博士研究生导师。主要研究方向为自动驾驶决策、规划与控制。E-mail：dongpu.cao@tsinghua.edu.cn
基金资助:
企业能力建设课题资助项目(20YW016)。

Slip-aware Adaptive Trajectory Tracking Control Strategy for Autonomous Tracked Vehicle

WU Yang^1,2, WANG Cong¹, DONG Guoxin³, ZENG Riya⁴, CAO Kai⁵, CAO Dongpu¹

1. School of Vehicle and Mobility, Tsinghua University, Beijing 100084;
2. The College of Mechanical and Electrical Engineering, Central South University, Changsha 410083;
3. School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083;
4. China North Vehicle Research Institute, Beijing 100072;
5. Dongfeng USharing Technology Co., Ltd., Wuhan 430056

Received:2023-12-21 Revised:2024-10-13 Online:2024-12-20 Published:2025-02-01

摘要/Abstract

摘要： 履带车由于工作环境多变、履带-地面接触机理复杂等因素，通常难以建立准确的动力学模型。此外，受到非结构化路面的起伏扰动冲击，难以通过低成本的传感器实现准确的速度测量，这些不利因素对履带车的路径跟踪控制带来了挑战。针对动力学建模困难的问题，建立以履带转动加速度为虚拟控制输入的动力学-运动学混合模型，利用广义扰动来描述履带滑移引起的不确定性。针对速度测量困难的问题，以混合模型为基础设计了基于扩展状态估计(Extended state observer，ESO)的速度与广义扰动观测器，实现了仅依赖GNSS和履带转动编码器信息的整车状态估计。最后，以履带转动加速度为中间控制量，设计了具有抗扰能力的分层控制策略，包括上层路径跟踪控制器和下层履带转速控制器。仿真和试验结果表明，所提出的状态观测与控制策略能够准确估计履带车的实时速度，并有效提高在外部扰动下的履带车路径跟踪精度。

关键词: 无人履带车, 路径跟踪, 自抗扰控制, 状态观测

Abstract: Due to the variable working environment and complex track-ground contact mechanism, it is difficult to establish an accurate dynamic model for tracked vehicles. Moreover, affected by the drastic impulse from the unstructured road surface, the accurate information of velocity is usually difficult or costly to measure. These unfavorable factors bring challenges to the trajectory tracking control of tracked vehicles. Aiming at the difficulty in modeling dynamics, a hybrid kino-dynamic model with track rotation acceleration as virtual control input is established, and generalized disturbances are used to describe the uncertainty caused by track slip. To deal with the unmeasurable velocity information, an extended state observer (ESO) is designed based on the hybrid model, and the state estimation of the whole vehicle is realized using only GNSS signals and track encoder signals. Finally, taking the rotational acceleration of the track as the intermediate control input, a hierarchical disturbance-rejecting control strategy consisting of an upper layer path tracking controller and a lower layer track speed controller is designed. Simulation and test results show that the proposed state observation and control strategy can accurately estimate the real-time velocity of the tracked vehicle, and effectively improve the path tracking accuracy under external disturbances.

Key words: autonomous tracked vehicle, trajectory tracking, active disturbance rejecting control, state observation

中图分类号:

TG156

吴洋, 王聪, 董国新, 曾日芽, 曹恺, 曹东璞. 考虑滑移的无人履带车自适应路径跟踪控制策略[J]. 机械工程学报, 2024, 60(24): 211-225.

WU Yang, WANG Cong, DONG Guoxin, ZENG Riya, CAO Kai, CAO Dongpu. Slip-aware Adaptive Trajectory Tracking Control Strategy for Autonomous Tracked Vehicle[J]. Journal of Mechanical Engineering, 2024, 60(24): 211-225.

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考虑滑移的无人履带车自适应路径跟踪控制策略

Slip-aware Adaptive Trajectory Tracking Control Strategy for Autonomous Tracked Vehicle

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