基于最优控制的导航拖拉机速度与航向联合控制方法

Joint Control Method of Speed and Heading of Navigation Tractor Based on Optimal Control

摘要:

为提高自动导航拖拉机工作效率和作业质量，以自动变速系统和自动转向系统为硬件支撑，结合最优控制理论，设计了基于速度和转向角的双参数最优控制算法。针对耙地作业要求，设计了直线路径跟踪与地头转弯路径跟踪控制器，运用Matlab软件对所设计的控制器进行了仿真分析，通过田间试验对所设计的控制器进行了验证。试验结果表明：控制器的横向偏差小于0.12 m，航向偏差小于1.1°，速度偏差小于0.2 m/s，满足自动导航作业要求。

Abstract:

The two-parameter optimal control method based on the speed and steering angle was designed with the optimal control theory. The automatic transmission system and the automatic steering system were developed for the automatic navigation tractor on the purpose of improving the work efficiency and the work quality. The straight path tracking controller and the turnrow turning path tracking controller were designed and simulated by the harrowing operation with the Matlab. The field test was carried out to validate the designed controller, and the results indicated that the control accuracy of the lateral deviation and the orientation deviation were less than 0.12 m and 1.1°, respectively. The speed control accuracy was less than 0.2m/s. 