农业工程2025，Vol.15Issue(7)：36-41,6.DOI:10.19998/j.cnki.2095-1795.202507305
基于纯追踪控制与广义预测控制的插秧机路径跟踪融合方法
Fusion method for transplanter path tracking based on pure pursuit control and generalized predictive control
刘文龙 1徐伟东 1李俊1
作者信息
- 1. 东北石油大学秦皇岛校区电气信息工程系,河北 秦皇岛 066004
- 折叠
摘要
Abstract
To improve operational accuracy of transplanters in complex field environments,a path tracking controller was designed by integrating a pure pursuit control algorithm with a generalized predictive control algorithm.Main controller was designed using a pure pursuit control algorithm to obtain basic value of front wheel rotation angle of transplanter.Controlled autoregressive integral moving av-erage model of transplanter was identified using the least squares method with forgetting factor.A generalized predictive control al-gorithm was used to design an auxiliary steering controller,and front wheel rotation angle compensation value was calculated.Basic value and compensation value were summed to obtain final front wheel rotation angle value required for transplanter path tracking.Co-simulation results of CarSim and Simulink showed that proposed control method had average lateral absolute errors of 4.83 and 3.75 cm for S-type and linear path tracking,respectively,which were 34%and 42%lower than before compensation.关键词
插秧机/路径跟踪/纯追踪控制/系统辨识/广义预测控制Key words
transplanter/path tracking/pure pursuit control/system identification/generalized predictive control分类
农业科技引用本文复制引用
刘文龙,徐伟东,李俊..基于纯追踪控制与广义预测控制的插秧机路径跟踪融合方法[J].农业工程,2025,15(7):36-41,6.
