基于飽和方法的農(nóng)業(yè)機(jī)械直線導(dǎo)航

摘要  農(nóng)業(yè)機(jī)械屬于相對(duì)概念，指用于農(nóng)業(yè)、畜牧業(yè)、林業(yè)和漁業(yè)所有機(jī)械的總稱，農(nóng)業(yè)機(jī)械屬于農(nóng)機(jī)具的范疇。推廣使用農(nóng)業(yè)機(jī)械稱為農(nóng)業(yè)機(jī)械化。農(nóng)業(yè)機(jī)器人的導(dǎo)航控制是機(jī)器人研究的重點(diǎn)，農(nóng)用車輛工作環(huán)境極為復(fù)雜，其運(yùn)動(dòng)受自然環(huán)境、土壤條件、負(fù)荷變化等許多非線性因素的影響，這就要求設(shè)計(jì)的控制系統(tǒng)不僅要滿足跟蹤路徑穩(wěn)、準(zhǔn)、快，還要具備較強(qiáng)的魯棒性。

而關(guān)于魯棒性與控制系統(tǒng)的魯棒性與控制系統(tǒng)的相對(duì)穩(wěn)定性（頻率域內(nèi)表征控制系統(tǒng)穩(wěn)定性裕量的一種性能指標(biāo)）和不變性原理（自動(dòng)控制理論中研究扼制和消除擾動(dòng)對(duì)控制系統(tǒng)影響的理論）來(lái)說(shuō)就好像是親兄弟一樣，內(nèi)模原理（把外部作用信號(hào)的動(dòng)力學(xué)模型植入控制器來(lái)構(gòu)成高精度反饋控制系統(tǒng)的一種設(shè)計(jì)原理）的建立則使得魯棒性問(wèn)題更進(jìn)一步發(fā)展下去。

本文以農(nóng)用拖拉機(jī)為研究對(duì)象, 提出了一種基于飽和方法的直線路徑跟蹤導(dǎo)航算法.該算法可以為農(nóng)用拖拉機(jī)導(dǎo)航中普遍存在的輸入飽和控制問(wèn)題提供一種有效的解決辦法. 首先, 基于直線導(dǎo)航系統(tǒng)運(yùn)動(dòng)學(xué)模型, 將其線性化得到易于控制設(shè)計(jì)的線性系統(tǒng)模型. 其次, 設(shè)計(jì)非飽和控制器, 使得系統(tǒng)在該非飽和控制器作用下全局鎮(zhèn)定.最后, 結(jié)合飽和函數(shù)和非飽和控制器, 構(gòu)造出飽和控制器, 并證明在該飽和控制器作用下系統(tǒng)全局漸近穩(wěn)定。 

 

關(guān)鍵詞  農(nóng)用拖拉機(jī)  路徑跟蹤控制器設(shè)計(jì)  魯棒性  穩(wěn)定性

 Agricultural machinery straight line navigation method based on saturation

   Abstract. Agricultural machinery is a relative concept, refers to the floorboard of all machinery of agriculture, animal husbandry, forestry and fishery, agriculture machinery belonging to agricultural machinery category. Promote the use of agricultural machinery called the mechanization of agriculture. Navigation control for agricultural robot is the focus of robotics research, agricultural vehicle working environment is very complex, its movement by the natural environment, soil conditions, load changes many nonlinear factors, control system, which requires the design should not only meet the tracking path stability, accurate, fast, but also have strong robustness. 

   And the relative stability robustness and the robustness of the control system and control system (frequency domain characterization of control system stability margin is a performance index) and the invariance principle (theory of control and eliminate the disturbance of the control system of automatic control theory) are closely linked, the internal model principle (the dynamics model into the controller external signal to form a design principle of high precise feedback control system) based on the robust problem plays an important role in promoting.

   In this paper, an agricultural tractor as the research object, presents a straight path tracking navigation algorithm based on saturation method. The algorithm for agricultural tractor navigation exists in the input saturation control problem to provide an effective solution. Firstly, the linear navigation system based on the kinematics model, linearized to obtain easy linear control system model design. Secondly, design of non saturated controller, which makes the system in the unsaturated global controller under calm. Finally, combined with the saturation function and non saturated controller, construct the saturation controller, and proved the global asymptotic stability of the system under the action of saturated controller. 

Key words agricultural tractors;path trackingcontroller design;stability;

                                  目錄

                              

第一章 緒論 1

1.1 課題背景 1

1.1.1 農(nóng)業(yè)導(dǎo)航技術(shù)的研究方向 1

1.2 農(nóng)業(yè)導(dǎo)航控制的幾個(gè)關(guān)鍵技術(shù) 2

1.2.1 感知技術(shù) 2

1.2.2 決策技術(shù) 2

1.2.3 控制技術(shù) 2

1.2.4 車輛定位和路徑規(guī)劃 3

1.3自動(dòng)導(dǎo)航的發(fā)展概況 3

1.3.1  PID控制 3

1.3.2 針對(duì)PID控制的現(xiàn)有研究 4

1.3.3. 現(xiàn)有農(nóng)用機(jī)械導(dǎo)航控制系統(tǒng)存在的問(wèn)題 4

1.4本文主要完成的內(nèi)容 5

第二章 直線導(dǎo)航控制問(wèn)題的模型 6

2.1農(nóng)用拖拉機(jī)直線跟蹤運(yùn)動(dòng)學(xué)模型 6

2.2農(nóng)用拖拉機(jī)直線跟蹤運(yùn)動(dòng)學(xué)模型的解釋 7

2.3農(nóng)用拖拉機(jī)直線跟蹤運(yùn)動(dòng)學(xué)模型的預(yù)備知識(shí) 7

第三章 自適應(yīng)積分滑模控制器的設(shè)計(jì) 9

3.1 飽和有限時(shí)間控制器的設(shè)計(jì) 9

3.2 魯棒控制器的設(shè)計(jì) 17

3.3 自適應(yīng)魯棒控制器的設(shè)計(jì) 18

第四章 直線導(dǎo)航的仿真驗(yàn)證 21

4.1 飽和有限時(shí)間控制器的仿真驗(yàn)證 21

4.2 魯棒控制器的仿真驗(yàn)證 22

4.3 自適應(yīng)魯棒控制器的仿真驗(yàn)證 23

結(jié)論與展望 25

致謝 27

參考文獻(xiàn) 28