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提高冲碾机跟踪规划路径精度的方法

宋二波 姚仰平

宋二波,姚仰平. 提高冲碾机跟踪规划路径精度的方法[J]. 北京航空航天大学学报,2023,49(1):106-114 doi: 10.13700/j.bh.1001-5965.2021.0495
引用本文: 宋二波,姚仰平. 提高冲碾机跟踪规划路径精度的方法[J]. 北京航空航天大学学报,2023,49(1):106-114 doi: 10.13700/j.bh.1001-5965.2021.0495
SONG E B,YAO Y P. Method of improving tracking precision of planning path for impact rollers[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(1):106-114 (in Chinese) doi: 10.13700/j.bh.1001-5965.2021.0495
Citation: SONG E B,YAO Y P. Method of improving tracking precision of planning path for impact rollers[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(1):106-114 (in Chinese) doi: 10.13700/j.bh.1001-5965.2021.0495

提高冲碾机跟踪规划路径精度的方法

doi: 10.13700/j.bh.1001-5965.2021.0495
基金项目: 国家重点研发计划(2018YFE0207100); 国家重点基础研究发展计划(2014CB047006)
详细信息
    通讯作者:

    E-mail: ypyao@buaa.edu.cn

  • 中图分类号: TU47;TU666;TP13;U412.3

Method of improving tracking precision of planning path for impact rollers

Funds: National Key R & D Program of China (2018YFE0207100); National Basic Research Program of China (2014CB047006)
More Information
  • 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。

     

  • 图 1  冲碾机转向方式

    Figure 1.  Headland turning mode of impact roller

    图 2  冲碾机压实工艺

    Figure 2.  Compaction technology of impact roller

    图 3  广义初等路径

    Figure 3.  Generalized elementary path

    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 5  方法1得到的与R=6 m相近的路径

    Figure 5.  Paths close to R=6 m by method 1

    图 6  连接两直线的过渡曲线

    Figure 6.  Transition curve used to connect two straight stretches

    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 8  方法2得到的与R=6 m相近的路径

    Figure 8.  Paths close to R=6 m by method 2

    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 12  控制系统框图

    Figure 12.  Block diagram of control system

    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

    λDRλDR
    第1组00.841811.22第4组0.70.87386.85
    第2组0.20.8459.39第5组0.90.89086.25
    第3组0.50.85927.63
    下载: 导出CSV
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出版历程
  • 收稿日期:  2021-08-27
  • 录用日期:  2021-11-19
  • 网络出版日期:  2023-01-16
  • 刊出日期:  2021-12-16

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