Research On Trajectory Tracking Control Algorithm Of Crawler Paver Based On Udwadia-Kalaba Equation

The continuous advancement of basic highway construction and the limitations of traditional paving construction methods promote the rapid development of unmanned paver technology.Unmanned driving can not only liberate the operator from the harsh construction environment,but also can carry out unmanned construction through the automatic control of the working device,improving the efficiency and safety of the construction.Trajectory tracking control is the core of the unmanned driving of the paver,and it is also the key link for unmanned operation.Therefore,it is of great practical significance to study the trajectory tracking control of the paver.In this paper,the adaptive robust control method based on Udwadia-Kalaba equation(U-K equation)is used to study the trajectory tracking problem of crawler paver.First,the relevant theory and application of the U-K equation are introduced,and combined with its advantages in dealing with incomplete constraint systems,on the basis of Lagrangian dynamics,a three-degree-of-freedom dynamic model of the paver based on the UK equation is established.Then,according to the operating characteristics of the paver,an expected tracking trajectory including straight lines and curves is designed,and the expected trajectory equation is converted into system constraints,and the uncertainty of the work quality of the paver under the paving conditions is also considered.On this basis,an adaptive robust control method based on U-K equations is used to design the trajectory tracking controller of the paver,and the control input is solved.Finally,the trajectory tracking control system under the transition conditions was simulated and analyzed on the Matlab/Simulink/Recurdyn joint simulation platform for the straight line section and the curve section respectively.For the adaptive robust control system considering the uncertainty of work quality under paving conditions,a simulation analysis was carried out in Matlab.The simulation results verify the effectiveness of the adaptive robust trajectory tracking controller designed in this paper based on the UK equation Sex.