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拖拉機(jī)半掛車機(jī)組自動(dòng)直線倒車控制器設(shè)計(jì)與實(shí)驗(yàn)
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    摘要:

    應(yīng)用最優(yōu)控制理論對(duì)拖拉機(jī)半掛車機(jī)組自動(dòng)直線倒車行駛進(jìn)行了研究。應(yīng)用最優(yōu)控制理論和線性化的車輛運(yùn)動(dòng)方程設(shè)計(jì)了拖拉機(jī)半掛車機(jī)組直線倒車的線性二次型控制器，運(yùn)用控制器分別在瀝青路面和未整修道路上進(jìn)行了實(shí)車實(shí)驗(yàn)。實(shí)驗(yàn)表明，該控制方法能夠?qū)崿F(xiàn)拖拉機(jī)半掛車機(jī)組自動(dòng)直線倒車行駛控制，且車輛的行駛速度對(duì)車輛系的橫向偏差影響很大。

    Abstract:

    An automatic control method was described for backward motions along rectilinear path of a tractor-trailer combination (TTC) using optimal control theory. Firstly, based on linearization kinematic equation, linear quadratic regulator (LQR) was designed using optimal control. Secondly, via the desired controller, the experiments were carried out in asphalt surfaced and a non-paving way respectively. The experimental results demonstrate that the control method can be successfully used for autonomous tractor-trailer combination along rectilinear path, and the vehicle velocity has a notable influence on the offset of TTC.

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陳軍,韓冰,朱忠祥,武田純一.拖拉機(jī)半掛車機(jī)組自動(dòng)直線倒車控制器設(shè)計(jì)與實(shí)驗(yàn)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2008,39(1):102-105.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(1):102-105.

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