[1]吴振龙,李 林,刘艳红.基于全驱控制方法的农机路径跟踪控制[J].郑州大学学报(工学版),2025,46(04):24-31.[doi:10.13705/j.issn.1671-6833.2025.04.019]
　WU Zhenlong,LI Lin,LIU Yanhong.Path Tracking of Agricultural Machinery Based on Fully Actuated Control Approaches[J].Journal of Zhengzhou University (Engineering Science),2025,46(04):24-31.[doi:10.13705/j.issn.1671-6833.2025.04.019]
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基于全驱控制方法的农机路径跟踪控制()
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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
46
期数:
2025年04期
页码:
24-31
栏目:
出版日期:
2025-07-10

文章信息/Info

Title:
Path Tracking of Agricultural Machinery Based on Fully Actuated Control Approaches
文章编号:
1671-6833(2025)04-0024-08
作者:
吴振龙1; 2;  李 林1;  刘艳红1
1. 郑州大学 电气与信息工程学院,河南 郑州 450001;2. 智能农业动力装备全国重点实验室,河南 洛阳 471039
Author(s):
WU Zhenlong1; 2;  LI Lin1;  LIU Yanhong1
1. School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou 450001, China; 2. State Key Laboratory of Intelligent Agricultural Power Equipment, Luoyang 471039, China
关键词:
扰动影响;  控制精度;  全驱控制;  鲁棒性;  路径跟踪
Keywords:
perturbation effects;  control accuracy;  fully actuated control;  robustness;  path tracking
分类号:
TK262
DOI:
10.13705/j.issn.1671-6833.2025.04.019
文献标志码:
A
摘要:
针对在未知扰动的影响下农机车辆对参考路径的跟踪精度不高,不能较好满足各种作业环境下生产需求的问题,以农田作业中最常见的前轮转向、后轮驱动的轮式农机车辆为对象,研究了全驱控制方法下农机车辆的跟踪控制问题。 采用广泛应用的比例积分微分( PID)控制、自抗扰控制作为对比控制器,在不同实验环境下与所提控制方法下所设计的控制器进行对比仿真。 结果表明:相比于另外两种控制方法,所提出的控制方法在不同的实验条件下都能更加稳定地对参考路径进行跟踪,且具有较高的控制精度与鲁棒性。
Abstract:
In order to solve the problem that the tracking accuracy of agricultural machinery vehicles on the reference path was not easily influenced by unknown disturbances and could not meet needs of various operating environments, the most common front-wheel steering and rear-wheel driven wheeled agricultural machinery vehicles infarmland operation was taken as the object, and the tracking control problem of agricultural machinery vehicles withthe fully actuated control approaches was studied. The widely used proportional-integral-derivative ( PID) controland active disturbance rejection control were used as comparison controllers. And the controllers designed with theproposed control method were compared and simulated in different experimental environments. The results showedthat, compared with the other two methods, the proposed method performed better in tracking the reference path,more stable in different experimental conditions, and with higher control accuracy and robustness.

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更新日期/Last Update: 2025-07-12