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以某6×6无人轮式车为对象研究跟踪控制策略,使其能够自主跟踪引导车的运动轨迹,并与引导车保持一定的安全距离。首先研究了采用参数样条曲线建立柔性虚拟曲杆模型的方法,并提出了虚拟曲杆的弹性力控制策略;然后又引入一种轨迹跟踪控制律,实现了对6×6无人轮式车跟踪运动的双闭环控制。最后通过Matlab仿真和实车试验对该控制策略进行了验证,结果表明:该控制策略能够保证车辆稳定行驶,并有效地提高了跟踪精度。
A 6 × 6 unmanned wheeled vehicle is taken as an object to study the tracking control strategy so that it can independently track the motion trajectory of the leading vehicle and maintain a certain safety distance with the leading vehicle. Firstly, the method of parametric spline curve to establish the flexible virtual curved rod model is studied, and the elastic force control strategy of the virtual curved rod is proposed. Then a trajectory tracking control law is introduced to realize the control of the 6 × 6 unmanned wheeled vehicle Dual closed-loop control of tracking motion. Finally, the control strategy is verified by Matlab simulation and real vehicle test. The results show that the control strategy can ensure the stable running of the vehicle and effectively improve the tracking accuracy.