水产学报2024，Vol.48Issue(12)：131-142,12.DOI:10.11964/jfc.20240714627
水产养殖车间运输无人车延迟特性的路径跟踪控制
Path tracking control for aquaculture workshop transport unmanned vehicles considering delay characteristics
摘要
Abstract
A high-precision path tracking control method considering delay characteristics was proposed to improve the path tracking accuracy of aquaculture transport unmanned vehicle in the process of transporting aquatic products.Firstly,the dynamics of the unmanned vehicle in the breeding workshop was analyzed.The dynamics model of the unmanned vehicle was built.Secondly,the communication delay and actuator delay were expressed as pure delay module and first order inertia delay model.The delay dynamic model was constructed.Through the model predictive control algorithm,the controller suitable for the intelligent breeding workshop scene was designed.The simulation platform was built by MATLAB/Simulink and CarSim,and verified based on the real transport unmanned vehicle and workshop layout.The results showed that compared with MPC controller without delay,MPC controller only considering actuator delay and LQR controller considering delay,the lateral error and course Angle error of the proposed method were reduced by 96%and 95%,15%and 34%,5%and 28%,respectively.The results showed that the proposed method performed better in path tracking when facing the delay problem.This study solves the delay problem of unmanned vehicles in aquaculture transportation,improves the path tracking accuracy,and ensures the accuracy and safety of unmanned vehicle transportation in aquaculture workshops.关键词
无人车/水产养殖运输/智慧养殖/转向延迟/模型预测控制Key words
driverless car/aquaculture transportation/intelligent farming/steering delay/model predictive control分类
农业科技引用本文复制引用
曹守启,隋国庆,周国峰..水产养殖车间运输无人车延迟特性的路径跟踪控制[J].水产学报,2024,48(12):131-142,12.基金项目
上海市农业科技创新项目(沪农科I2023006) （沪农科I2023006）
上海市崇明区农业科创项目(2021CNKC-05-06) Shanghai Agricultural Science and Technology Innovation Project(I2023006) （2021CNKC-05-06）
Shanghai Chongming District Agricultural Science and Technology Innovation Project(2021CNKC-05-06) （2021CNKC-05-06）
