基于MPC的无人驾驶拖拉机轨迹跟踪控制

doi:10.3969/j.issn.16740696.2019.09.01

摘要/Abstract

摘要： 针对无人驾驶拖拉机在给定行驶路径的情况下，通过对建立的拖拉机运动学非线性模型进行线性化处理，得到线性时变系统，运用模型预测控制算法对拖拉机转向进行控制达到轨迹跟踪的目的；为了优化控制器运算速度，提出自适应MPC控制器，该控制器的预测时域能够根据参考轨迹曲率的变化自动调节，在确保轨迹跟踪效果的前提下，降低控制器的运算时间，保证控制系统的实时性。研究结果表明，基于MPC设计的轨迹跟踪控制器能够使拖拉机在车速为10 m/s行驶时有效跟踪既定的行驶轨迹，距离误差小于0.03 m，航向角误差小于0.015 rad。

关键词: 车辆工程, MPC, 轨迹跟踪, 拖拉机

Abstract: This research focuses on the MPC controller design, which makes unmanned tractors follow the reference trajectory. By linearizing the nonlinear kinematics model of the tractor, the linear variable system was obtained, and the MPC algorithm was used to control the steering of the tractor to achieve the purpose of trajectory tracking. In order to optimize the computation speed of the controller, an adaptive MPC controller was proposed. The predicted horizon of the adaptive MPC controller could automatically adjust itself with the change of the reference trajectory curvature, the adaptive MPC controller could shorten the calculation time and ensure the realtime performance of the control system and ensure the trajectory tracking result. The simulation results show that the trajectory tracking controller effectively tracks the reference trajectory when the tractors speed is 10m / s with a distance error of less than 0.03m, and the heading angle error of less than 0.015rad.

Key words: vehicle engineering, MPC, trajectory tracking, tractor

中图分类号:

U448.22

严国军1,2,3 ,贲能军1 , 顾建华1 , 杨彦1. 基于MPC的无人驾驶拖拉机轨迹跟踪控制[J]. 重庆交通大学学报（自然科学版）, 2019, 38(09): 1-6.

YAN Guojun1,2,3, BEN Nengjun1, GU Jianhua1, YANG Yan1. Trajectory Tracking Control of Intelligent Tractor Based on MPC Algorithm[J]. Journal of Chongqing Jiaotong University(Natural Science), 2019, 38(09): 1-6.

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Transactions of The Chinese Society for Agricultural Machinery, 2008, 39(6): 4245.
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CAO Zhe. Dynamic Stability Control and Suspension Design of Fourwheel Independent Driving Electric Vehicle with Variable Curvature Corner［D］. Nanjing:
Southeast University, 2017. ［1］ BELL T. Automatic tractor guidance using carrierphase differential GPS［J］. Computers and Electronics in Agriculture, 2000,25: 5366.
［2］ REID F.J.,ZHANG Q, et al. Agricultural automatic guidance research in north america［J］. Computers and Electronics in Agriculture, 2000, 25: 155167.
［3］胡静涛, 高雷, 白晓平, 等. 农业机械自动导航技术研究进展［J］. 农业工程学报, 2015, 31(10):110.
HU Jingtao, GAO Lei, BAI Xiaoping，et al. Review of research on automatic guidance of agricultural vehicles［J］. Transactions of the Chinese Society of
Agricultural Engineering, 2015, 31(10): 110.
［4］姬长英, 周俊. 农业机械导航技术发展分析［J］. 农业机械学报, 2014, 45(9):4454.
JI Changying, ZHOU Jun. Current situation of navigation technologies for agricultural machinery［J］. Transactions of the Chinese Society for Agricultural
Machinery, 2014, 45(9): 4454.
［5］周兴林, 伍洋, 吕文莎, 等. 车辆行驶跑偏量在线测量研究［J］. 重庆交通大学学报(自然科学版), 2017, 36(12):97101.
ZHOU Xinglin, WU Yang, LV Wensha, et al. Online measurement of vehicle driving deviation［J］. Journal of Chongqing Jiaotong University(Natural Science). 2017, 36
(12):97101.
［6］侯江丽.基于GIS的拖拉机自动驾驶作业路径规划方法的研究［D］.北京：中国农业大学，2006.
HOU Jiangli. Research on Working Path Planning Method of Tractor Autonomous Driving Based on GIS［D］. Beijing: China Agricultural University, 2006.
［7］郭振东.无人驾驶汽车路径识别算法研究［J］. 汽车电器, 2009(5):1418.
GUO Zhendong. Algorithm research on path recognition of pilotless automobile［J］. Auto Electric Parts, 2009(5):1418.
［8］韩冰，陈军.拖拉机行驶路径的多项式设计［J］. 农机化研究，2006,10(10):98100.
HANG Bing, CHEN Jun. Autonomous tractor trajectory design using polynomial function［J］. Journal of Agricultural Mechanization Research, 2006, 10(10): 98100.
［9］龚建伟, 姜岩, 徐威. 无人驾驶车辆模型预测控制［M］. 北京：北京理工大学出版社, 2014.
GONG Jianwei, JIANG Yan, XU Wei. Model Predictive Control for Selfdriving Vehicles［M］. Beijing: Beijing Institute of Technology Press, 2014.
［10］苏成利. 非线性模型预测控制的若干问题研究［D］.杭州：浙江大学, 2006.
SU Chengli. Research on Some Problems of Nonlinear Model Predi ctive Control［D］. Hangzhou: Zhejiang University, 2006.
［11］徐健，汪慢，乔磊.欠驱动无人水下航行器三维轨迹跟踪的反步控制［J］. 控制理论与应用,2014, 31(11)：15891590.
XU Jian, WANG Man, QIAO Lei. Backsteppingbased controller for threedimensional trajectory tracking of underactuated unmanned underwater vehicles［J］. Control
Theory & Applications, 2014, 31(11): 15891590.
［12］刘一扬, 刘明明. 基于改进遗传算法的机器人运动轨迹跟踪控制［J］. 机械传动,2016, 40(3)：3941.
LIU Yiyang, LIU Mingming. Trajectory tracking control of robot based on improved genetic algorithm［J］. Journal of Mechanical Transmission, 2016, 40(3): 3941.
［13］郭烈，黄晓慧，葛平淑，等. 基于反演法的智能车辆弯路换道轨迹跟踪控制［J］. 吉林大学学报(工学版), 2013, 43(2): 323328.
GUO Lie, HUANG Xiaohui, GE Pingshu, et al. Lane changing trajectory tracking control for intelligent vehicle on curved road based on backstepping［J］. Journal of
Jilin University (Engineering and Technology Edition), 2013, 43(2): 323328.
［14］柯文德,彭志平,蔡则苏,等. 仿人机器人相似性运动轨迹跟踪控制研究［J］. 自动化学报,2014, 40(11)：24042413.
KE Wende, PENG Zhiping, CAI Zesu, et al. Study of trajectory tracking control for humanoid robot based on similarity locomotion［J］. Acta Automatica Sinica, 2014,
40(11): 24042413.
［15］游峰,王荣本,张荣辉,等. 智能车辆换道与超车轨迹跟踪控制［J］. 农业机械学报,2008, 39(6)：4245.
YOU Feng, WANG Rongben, ZHANG Ronghui, et al. Lane changing and overtaking control method for intelligent vehicle based on backstepping algorithm［J］.
Transactions of The Chinese Society for Agricultural Machinery, 2008, 39(6): 4245.
［16］ KUHNE F, LAGES WF, et al. Model predictive control of a mobile robot using linearization［J］. Prodeedings of Mechatronics and Robototics, 2004(4):525530.
［17］曹哲. 变曲率弯道四轮独立驱动电动汽车动力学稳定性控制及其悬架设计［D］. 南京：东南大学, 2017.
CAO Zhe. Dynamic Stability Control and Suspension Design of Fourwheel Independent Driving Electric Vehicle with Variable Curvature Corner［D］. Nanjing:
Southeast University, 2017.

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