摘要
Automatic navigation of an articulated drum roller, which is an articulated steering type vehicle widely used in the construction industry, is highly expected for operation cost reduction and improvement of work effi- ciency. In order to achieve the path following control, considering that its steering system is articulated steering and two frames are articulated by an active revolute joint, a kinematic model and an error dynamic state-space equation of an articulated drum roller are proposed. Besides, a state- feedback control law based on Lyapunov stability theory is also designed, which can be proved to achieve the purpose of control by the analysis of stability. What＇s more, to evaluate the performance of the proposed method, simu- lation under the MATLAB/Simulink and experiments using positioning algorithm and errors correction at the uneven construction site are performed, with initial dis- placement error （-1.5 m）, heading error （-0.11 tad） and steering angle （-0.19 rad）. Finally, simulation and exper- imental results show that the errors and steering angle can decrease gradually, and converge to zero with time. Meanwhile, the control input is not saturated. An articu- lated drum roller can lock into a desired path with the proposed method in uneven fields.
Automatic navigation of an articulated drum roller, which is an articulated steering type vehicle widely used in the construction industry, is highly expected for operation cost reduction and improvement of work effi- ciency. In order to achieve the path following control, considering that its steering system is articulated steering and two frames are articulated by an active revolute joint, a kinematic model and an error dynamic state-space equation of an articulated drum roller are proposed. Besides, a state- feedback control law based on Lyapunov stability theory is also designed, which can be proved to achieve the purpose of control by the analysis of stability. What＇s more, to evaluate the performance of the proposed method, simu- lation under the MATLAB/Simulink and experiments using positioning algorithm and errors correction at the uneven construction site are performed, with initial dis- placement error （-1.5 m）, heading error （-0.11 tad） and steering angle （-0.19 rad）. Finally, simulation and exper- imental results show that the errors and steering angle can decrease gradually, and converge to zero with time. Meanwhile, the control input is not saturated. An articu- lated drum roller can lock into a desired path with the proposed method in uneven fields.
基金
Supported by National Key Technology Support Program of China(Grant No.2015BAF07B05)
Fundamental Research Funds for the Central Universities of China
作者简介
Yongming BIAN, born in 1965, is currently a professor and a PhD candidate supervisor in School of Mechanical Engineering, Tongji University, China. He received his doctor degree from Tongji University, China. His main research interest is real-time network control theory and hydromechatronics. E-mail：ymbianmail @ 163.comMeng YANG, born in 1990, is currently a PhD candidate in School of Mechanical Engineering, Tongji University, China. His research interest is electrical control technology, control theory and hydromechatronics . Te1：＋86-13162739906; E-mail：stek_young@ 163.comXiaojun FANG, born in 1990, is currently a PhD candidate in School of Mechanical Engineering, Tongji University, China. His main research interest is hydraulic control system and hydromecha- tronics. E-mail：xiaojun320 @ aliyun.comXiahui WANG, born in 1989, is currently a master candidate in School of Mechanical Engineering, Tongji University, China. His research interest is network control theory and hydromechatronics. E-mail：figomengnan@qq.com
