Study On Trajectory Tracking Control Technology For Heavy Tracked Vehicles

In this article,the trajectory tracking control technology of heavy tracked vehicles is studied by combining with the coal mine key scientific and technological project “SelfMoving Crushing Station and Development of Key Technologies in Large Opencast Coal Mine”(MJ2014-02).Based on the analysis of the kinematics of heavy tracked vehicles,the trajectory tracking error model was established,the trajectory tracking control system was designed,and the trajectory tracking control method of heavy tracked vehicles was put forward.Finally,based on Lab VIEW,the trajectory tracking control experiment was carried out.Based on reading the domestic and foreign literatures of trajectory tracking control,the background and significance of trajectory tracking control of heavy tracked vehicles were introduced,and the research status of trajectory tracking control in various fields at home and abroad was discussed,and the reference and limitations of other field trajectory tracking control Algorithms which are applied to heavy tracked vehicles were listed.According to the needs of heavy tracked vehicles trajectory tracking control tasks,the concept of trajectory tracking for heavy tracked vehicles was described.The two positioning principles of trajectory tracking were introduced.The principles of coordinate transformation of tracked vehicles were discussed,the fuzzy control and variable universe fuzzy control for the design of trajectory tracking controller were introduced.In this article,the overall scheme of trajectory tracking control system of heavy tracked vehicles was put forward,and the theoretical kinematic model of heavy tracked vehicles was established,pose error under the global coordinate system was obtained,then transformed it into the local coordinate system of tracked vehicles.According to the theories of fuzzy control and variable universe fuzzy control,the angular velocity controller and the linear velocity controller were designed,and the function relation of the input signal to the frequency converter was deduced.According to the kinematic model and trajectory error model of heavy tracked vehicles,the simulation block diagrams of controller were set up in Simulink,and the trajectories of straight line,constant velocity curve and variable speed character line were simulated and analyzed.The virtual prototype models of the experimental prototype and the mobile crushing station were created in the dynamic simulation software Recur Dyn,then the co-simulation of mechanical and control was carried out with the software Simulink.Finally,the co-simulation analyses of the experimental prototype and the mobile crushing station were carried out,the simulation results show that the controller is correct and robust.The trajectory tracking control experimental platform of tracked vehicles was designed and built,and the hardware equipment used in the experiment was introduced.Based on Lab VIEW,the trajectory tracking control software was developed,and the modules in the software were introduced.The causes of the errors in the two methods were analyzed by using GPS and encoders.The trajectory of the constant velocity was tested and the effectiveness of the designed tracking control system and controller was verified.In this article,the research on trajectory tracking control of heavy tracked vehicles provides a reference for the intelligent and unmanned driving of heavy tracked vehicles,such as self-moving crushing station in large opencast coal mine.