Research On Precise Control Of Multi-SPMT Combination Trajectory

The modern shipyard adapts the segmented hull manufacturing method.The selfpropelled modular transport vehicle plays a very important role in transporting the hull,which can improve the working efficiency of the shipyard and speed up the automation process.Therefore,the research on the trajectory control of the self-propelled module transport vehicle is very significance.This paper studies the trajectory control of multiple self-propelled modular transport vehicles.Firstly,according to the driving condition of the vehicle,the force and movement of the steering mechanism and the driving mechanism of the vehicle are analyzed,and obtaining the main parameters of the hydraulic system,which provides the data foundation for the following;for the characteristics of the vehicle,the load sensitivity and load sensing shunt technology is used,to improve the efficiency of the hydraulic system and improve the coordination of the vehicle;the use of electro-hydraulic proportional control makes the control of the hydraulic system more convenient.Secondly,in order to improve the performance of the hydraulic steering and drive control system,a fuzzy PID controller is designed to improve the stability of the control system,short the response time of the system,and provide the underlying foundation for the trajectory controller.Then the kinematics model of the vehicle is established,and the error term of linearization of the nonlinear system is fitted by RBF neural network.The traditional model predictive controller is improved,which makes the vehicle's trajectory control more accurate and more anti-interference.Thirdly,considering that the positioning of the vehicle will directly affect the trajectory control of the vehicle,this paper uses high-precision GPS/Beidou positioning system and inertial navigation system to detect the position information of a single vehicle,and uses Lidar to detect the relative position between the vehicle and the vehicle.In order to improve the positioning accuracy of the vehicle and fuse the data of different sensors,the unscented Kalman filter is used instead of the extended Kalman filter,which not only improves the positioning accuracy of the vehicle,but also reduces the running time of the program,improving the real-time performance of trajectory tracking.Finally,multi-vehicle co-location is used to improve the positioning accuracy of the vehicle.The multi-vehicle coordinated control strategy is used to control the trajectory of multiple vehicles,so that the vehicle has good anti-interference ability in trajectory tracking.In this paper,Matlab is used to analyze and simulate the established model to verify the designed control performance.Simulation results show that the multi-SPMT combined travel track controller has a good control effect on the vehicle's trajectory.