拖拉机在牧草地上自动引导行走的控制

利用车辆运动学模型,应用最优控制理论,对拖拉机自动引导行走方法进行了研究。利用前馈控制方法生成了车辆自动行走的轨道;通过对车辆运动状态方程的线性化,设计了车辆沿生成的轨道引导行走的负反馈控制器。最后利用该方法在牧草地上进行了实车实验,结果表明:拖拉机在倾斜度小于3°的地面上直线行走时的横向标准偏差小于0.08m。

Study on Automatic Guidance for Tractor on Grassland

An automatic guidance method for tractor was developed based on a vehicle kinematical model and the optimal control theory. A tracking path of a tractor was generated with the feed-forward control method and a feedback controller for vehicle running along the desired path was designed by linearizing the vehicle kinematical equations. The field test was conducted on a grass land, where the terrain slope was less than 3 degrees. The results indicated that the standard deviation of lateral offset was less than 0.08 m in tracking straight path.