Abstract:Aiming at the problems of low path tracking accuracy, many control times and large turning deviation of unilateral braking agricultural tracked vehicles in hilly and mountainous areas, the path tracking control of tracked vehicles under different load conditions was studied. Firstly, the turning kinematics of the tracked vehicle was theoretically analyzed, and the kinematics model of the tracked vehicle was established. Secondly, according to the unilateral braking turning characteristics of the tracked vehicles, an instantaneous center of rotation was proposed for instantaneous control, which can plan the optimal turning target point, according to the turning point position of the planned path and the turning instantaneous center of the tracked vehicle, and controlling the tracked vehicle to turn to the required course at the turning target point at one time. Meanwhile, the design of the turning controller was completed. Finally, the simulation and field experiments of the tracked vehicle under three different load conditions were carried out. The simulation results showed that the average error area of the tracking path and the average turning control times generated by the large angle turning control algorithm were reduced by 68.95% and 68.77%, respectively. The mean value of the mean lateral deviation of the tracking path, the mean turning control times and the mean minimum deviation of the turning point generated by the large angle turning control algorithm were reduced by 57.27%, 33.93% and 62.29%, respectively. And the path tracking effect was better, which verified the effectiveness of the large angle turning control algorithm. The test results met the requirements of tracked vehicle path tracking and provided a theoretical basis and reference for the path tracking of agricultural tracked vehicles.
