郑州大学学报（工学版）2025，Vol.46Issue(4)：24-31,8.DOI:10.13705/j.issn.1671-6833.2025.04.019
基于全驱控制方法的农机路径跟踪控制
Path Tracking of Agricultural Machinery Based on Fully Actuated Control Approaches
摘要
Abstract
In order to solve the problem that the tracking accuracy of agricultural machinery vehicles on the refer-ence path was not easily influenced by unknown disturbances and could not meet needs of various operating environ-ments,the most common front-wheel steering and rear-wheel driven wheeled agricultural machinery vehicles in farmland operation was taken as the object,and the tracking control problem of agricultural machinery vehicles with the fully actuated control approaches was studied.The widely used proportional-integral-derivative(PID)control and active disturbance rejection control were used as comparison controllers.And the controllers designed with the proposed control method were compared and simulated in different experimental environments.The results showed that,compared with the other two methods,the proposed method performed better in tracking the reference path,more stable in different experimental conditions,and with higher control accuracy and robustness.关键词
扰动影响/控制精度/全驱控制/鲁棒性/路径跟踪Key words
perturbation effects/control accuracy/fully actuated control/robustness/path tracking分类
能源科技引用本文复制引用
吴振龙,李林,刘艳红..基于全驱控制方法的农机路径跟踪控制[J].郑州大学学报（工学版）,2025,46(4):24-31,8.基金项目
国家自然科学基金资助项目(52106030,U23A20340) （52106030,U23A20340）
电力系统国家重点实验室开放课题(SKLD21KM14) （SKLD21KM14）
