摘要
复杂碾压环境下无人操控压路机速度控制不精准会导致碾压路面损伤,根据反应式导航控制策略,以PID控制算法为基础,研究了仿人工定向反复引导学习方向控制法,通过反复引导学习算法对PID参数进行在线自适应整定。根据操作手预瞄模型制定了路径跟踪速度控制策略,基于最优选择学习路径跟踪速度控制研究策略,实现了对无人操控压路机的平稳控制。
Inaccurate speed control of unattended roller in complex rolling environment will cause rolling road damage.According to the reactive navigation control strategy and based on the PID control algorithm,the artificial directional learning direction control method is studied,and the online adaptive tuning of PID parameters is carried out through the repetitive learning algorithm.The path tracking speed control strategy was developed according to the operator’s preview model,and the optimal learning path tracking speed control strategy was adopted to achieve the smooth control of the unmanned roller.
作者
邵珠枫
朱敬花
吴慧
SHAO Zhufeng;ZHU Jinghua;WU Hui(Department of Mechanical and Electronic Engineering,China University of Mining and Technology,Xuzhou 221116,China;Jiuzhou Polytechnic,Xuzhou 221116,China)
出处
《现代信息科技》
2020年第10期89-91,共3页
Modern Information Technology
作者简介
邵珠枫(1984.09—),男,汉族,江苏徐州人,中级职称,研究生,研究方向:无人驾驶压路机的研发。
