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摘要:
近年来在机场高填方工程中应用无人冲击碾压机已成为一种新趋势，而冲碾机在地头转向处常出现较大的跟踪误差，从而影响工作区的压实。提出一种适用于冲碾机地头转向的路径优化方法，有效提高冲碾机转向跟踪精度。基于2种广义初等曲线的计算方法，建立U型转向路径，并综合考虑最小转弯半径和曲率连续的条件，在靠近原规划路径处筛选出有效路径。基于广义双初等曲线的计算方法，建立Ω型转向路径，并综合考虑了最小转弯半径和曲率连续的约束条件，在靠近原规划路径处筛选出有效路径。基于MATLAB/Simulink平台搭建的模型预测控制器（MPC），仿真对比原规划路径与优化后路径的轨迹跟踪效果，结果表明：U型转向和Ω型转向优化后的路径跟踪效果都较好，从而验证所提优化方法的有效性。
Abstract:In recent years, the application of unmanned impact rollers in high embankment engineering of airport has become a new trend. However, large tracking errors often occur at the start and the end point of the headland, which affects the compaction effectiveness of the working area. In this paper, a path optimization method is proposed to improve the steering tracking performance. Firstly, the U-shaped turning path derived from generalized elementary curve is established based on two calculation methods, and the optimized path is selected near the original planning path considering minimum turning radius and the smoothness of the curvature of curve. Then, the Ω-shaped turning path is formed by bi-elementary curve, and the optimized path is selected with the same method as above. Finally, the model predictive control (MPC) simulator is established to simulate the trajectory tracking effect of various paths. The results showed that the tracking effect of the optimized path is better than the original path, indicating the effectiveness of the proposed path optimization method.
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图 4 R=6 m不同λ取值的广义初等曲线
Figure 4. Generalized elementary curves with different λ for R=6 m
图 7
$R'=6\;{\rm{m}} $ 不同λ值的曲线Figure 7. Generalized elementary curves with different λ for
$R'=6\;{\rm{m}} $ 
图 9 不同γ取值的双初等路径示意图
Figure 9. Schematic diagram of bi-elementary paths with different γ values
图 10 不同γ取值的Ω型转向路径及曲率
Figure 10. Ω-shaped turning paths and curvature with different γ values
图 11 曲率连续的Ω型转向路径及曲率
Figure 11. Ω-shaped turning path with continuous curvature and curvature change of the path
图 13 不同U型转向路径下横向跟踪误差
Figure 13. Lateral error of trajectory tracking for different U-shaped turning paths
图 14 不同U型转向路径下轨迹跟踪的转向角
Figure 14. Steering angle of trajectory tracking for different U-shaped turning paths
图 15 不同Ω型转向路径下横向跟踪误差
Figure 15. Lateral error of trajectory tracking for different Ω-shaped turning paths
图 16 不同Ω型转向路径下轨迹跟踪转向角
Figure 16. Steering angle of trajectory tracking for different Ω-shaped turning paths
表 1 不同λ值的R约束值
Table 1. R constraint values with different λ values
组 λ D R≥ 组 λ D R≥ 第1组 0 0.8418 11.22 第4组 0.7 0.8738 6.85 第2组 0.2 0.845 9.39 第5组 0.9 0.8908 6.25 第3组 0.5 0.8592 7.63 
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