拖拉机行驶路线的自动变更研究

为了实现拖拉机自动化作业的需要,本研究利用前馈控制和反馈控制相结合的控制方法，设计了拖拉机行驶路线自动变更的非线性反馈控制器。首先，利用非线性最优控制方法，设计了车辆进行行驶路线自动变更的基准轨迹；然后利用LQ最优控制技术，构造了车辆沿着基准轨迹进行行驶路线变更的反馈控制器。最后，利用设计的基准轨迹和反馈控制器进行了实车试验。试验表明，该控制方法具有良好的适应性，所设计的控制器具有良好的响应性和收敛性。

Automatic control of lane change for autonomous tractors

In order to achieve automatic work of tractor, using a control method combining with feed-forward and feedback control, a nonlinear feedback controller for the automatic lane change of agricultural tractors was designed. First, the nonlinear optimal control algorithm was applied to plan the reference trajectories of automatic lane changes. Then based on the LQ optimal control technique, the feedback controllers for lane change along the planned path were constructed. Finally, the tests were conducted. The results showed that the control method employed in this work had good adaptability, and the designed controller had a good response and convergency.