Research On Tracked Vehicle Motion Control Based On Speed And Lateral Coordination

This paper mainly studies the path tracking motion control of unmanned intelligent tracked vehicle speed and lateral coordination.The research object is low-speed hydraulically driven tracked vehicle.Due to the characteristics of strong coupling and nonlinearity in the mathematical model of tracked vehicles and the characteristics of hysteresis in hydraulic drive,the design difficulty of motion control is increased.This paper uses the method of layered control to design the speed and lateral motion control system of tracked vehicles.The main research contents include:First,on the basis of consulting domestic and foreign research literature,the background and significance of unmanned intelligent tracked vehicle motion control are introduced,as well as the current research status of tracked vehicle motion control at home and abroad,and the advantages and disadvantages of each control algorithm are analyzed.Then,the tracked vehicle steering kinematics model is analyzed,combined with tracked vehicle structural parameters and motion constraints,the tracked vehicle numerical analysis model and the mechanical-control system co-simulation model are established by Matlab/Simulink and Recurdyn.Three contact parameters of sand-stone(Dry-Sand),snow(Snow US)and hard pavement and ground were selected,and the accuracy of the control-mechanical system co-simulation platform was verified through simulation experiments.Then,based on the working principle of the valve-controlled motor system and related parameters,a discrete mathematical model of the valve-controlled motor speed regulation system was established.By analyzing the dynamic and static performance of the valve-controlled motor system,the objective function of valve-controlled motor parameter setting is established,and the binary control algorithm is used to perform intelligent control parameter setting based on multiple performance indicators.In addition,the Fourier series expansion is used to decouple the longitudinal and lateral coupling relationship in the local coordinate system.A lateral controller is proposed based on linear quadratic form for solving the optimal control law and using a fuzzy neural network to nonlinearly compensate its numerical optimal control law.Finally,according to the above work,the effectiveness of the designed control strategy is verified in the joint simulation model of mechanical hydraulic-control system established in Matlab/Simulink and Recurdyn.The effectiveness of the designed motion controller is verified by straight line,curve,double shift line,in-situ right-angle steering,variable speed with time constraint,and commutation curve path tracking.This paper studies the track-tracking motion control of tracked vehicles and provides a reference for the intelligent and unmanned construction vehicles.