摘要
针对深海采矿车在海底行走作业时受到复杂环境影响而偏离预定路径问题,提出基于模型预测控制(MPC)算法的轨迹跟踪控制器。利用深海采矿车运动学模型在Matlab中进行数值仿真分析,利用深海采矿车多体动力学模型开展Matlab-RecurDyn联合仿真分析。仿真结果表明,在直线与曲线工况下轨迹跟踪控制器都有较好的跟踪效果,并且联合仿真比数值仿真的结果更加符合真实环境。
A trajectory tracking controller based on the Model Predictive Control(MPC)algorithm is proposed to address the problem of deep-sea mining vehicles deviating from their predetermined paths,due to the influence of complex environments when travelling on the seabed.The kinematic model of the deep-sea mining vehicles is simulated in Matlab and the Matlab-RecurDyn co-simulation analysis is carried out using the multi-body dynamics of the deep-sea mining vehicles.The simulation results show that the trajectory tracking controller has a good tracking effect in both linear and curvilinear conditions,and the results of the co-simulation match the real environment than the numerical simulation.
出处
《工业控制计算机》
2024年第3期67-69,共3页
Industrial Control Computer
关键词
深海采矿车
轨迹跟踪
模型预测控制
联合仿真
deep-sea mining vehicles
trajectory tracking
model predictive control
co-simulation
