农机化研究2024，Vol.46Issue(6)：227-233,7.
基于自适应MPC的拖拉机路径跟踪控制方法
Path Tracking Control Method of Tractor Based on Adaptive Model Prediction Control
摘要
Abstract
In response to the problem that the traditional Model Predictive Control(MPC)cannot adapt to the complexity of tractor field operation conditions,an adaptive time-domain MPC-based path tracking control algorithm is proposed.First,a linear time-varying vehicle error model is established based on tractor kinematics.Then,based on the real-time speed of the tractor and the reference path curvature,the fuzzy control algorithm is used to determine the current optimal prediction time domain and control time domain.Finally,on this basis,the MPC algorithm is combined to control the tractor to track the pre-set reference path.The real vehicle test shows that:the absolute value of tractor path tracking lateral error is<0.03 m;the absolute value of straight section lateral error is<0.07m;the absolute value of curve sec-tion lateral error is<0.15 m;in addition,the path tracking controller designed in this paper can ensure that the tractor can accurately and quickly track the pre-set reference path within 5s.关键词
拖拉机/路径跟踪/自适应时域/模型预测控制/无人驾驶Key words
tractor/path tracking/adaptive time domain/model prediction control/unmanned vehicles分类
农业科技引用本文复制引用
胡珉珉,魏新华,王爱臣,施圣高,陈新华..基于自适应MPC的拖拉机路径跟踪控制方法[J].农机化研究,2024,46(6):227-233,7.基金项目
上海市科技兴农项目(沪农科推字[2019]第4-3号) （沪农科推字[2019]第4-3号）
江苏省现代农机装备与技术示范推广项目(NJ2020-59) （NJ2020-59）
