摘要
以无人驾驶矿用运输车为平台,开展精准停靠控制试验研究。为尽可能精确地到达期望停靠位置,首先设计距离-速度规划方案,在此基础上提出1种前馈加反馈的执行器开度控制算法;其次,在底层控制中考虑加速度补偿项,并对制动切换逻辑进行优化;最后进行仿真测试和实车试验,通过测试纠正控制参数,避免掉烦琐的系统参数辨识。结果表明:采用精准停靠策略能降低干扰引起的速度波动,优化底层控制逻辑,有效提高停靠精度。
The precise parking control experiments and research are conducted using an autonomous mining transport vehicle as the platform.To achieve the desired parking position as accurately as possible,the article first designs a distance-velocity planning scheme.Based on this,the article proposes a feedforward and feedback actuator aperture control algorithm.Additionally,we consider acceleration compensation terms in the low-level control and optimizethe brake switching logic.Subsequently,wecarry out simulation tests and real-world vehicle experiments,and adjustcontrol parameters through the tests,eliminating the need for laborious system parameter identification.The results show that the adoption of a precise docking strategy reduces speed fluctuations caused by disturbances and optimizes the low-level control logic,effectively enhancing parking accuracy.
作者
张翔宇
徐国艳
夏启
李涵
徐全耀
蔡明祥
ZHANG Xiangyu;XU Guoyan;XIA Qi;LI Han;XU Quanyao;CAI Mingxiang(Key Laboratory of Special Vehicle Unmanned Transportation Technology Ministry of Industry and Information Technology,Beihang University,Beijing 100191,China;School of Transportation Science and Engineering,Beihang University,Beijing 100191,China;Guoneng Xinjiang Zhundong Energy Co.,Ltd.,Changji 831100,China)
出处
《露天采矿技术》
CAS
2024年第1期26-31,共6页
Opencast Mining Technology
关键词
无人运输
精准停靠
距离-速度规划
误差反馈控制
制动逻辑切换
unmanned transport
precision parking
distance-velocity planning
error feedback control
braking logic switching
作者简介
张翔宇(1998-),男,内蒙古鄂尔多斯人,硕士研究生,研究方向为无人驾驶车辆决策于控制技术。E-mail:15827261082@163.com。
