Study On Trajectory Tracking Control Of Double-drum Vibratory Roller Based On Udwadia-kalaba Equation

The development of unmanned driving technology has brought new research directions to the field of construction machinery automation.As an important road compaction equipment,the double-drum vibratory roller has the characteristics of harsh construction environment,cyclic operation,heavy operation tasks and high work intensity.These characteristics increase the labor intensity of the operators,affect the health of the operators,and even the quality of construction work has declined,so it is of great practical significance to study the unmanned and automatic operation technology of road rollers.Udwadia-Kalaba(U-K)theory has gradually attracted people’s attention because it is good at handling the modeling and control problems of constrained mechanical systems.Based on the U-K theory,this paper applies an adaptive robust control method to analyze the trajectory of an unmanned double-drum vibratory roller.The tracking issue is studied.First of all,starting from the structure of the double-drum vibratory roller,the force during its movement is analyzed,and the positional relationship and velocity relationship between the center of mass of the front and rear parts and the contact center point of the front and rear drum with the ground are analyzed.After analyzing the constraint conditions,Lagrange’s equations are used to establish a four-degree-of-freedom dynamic model of the U-K form of double-drum vibratory roller.Secondly,according to the roller compaction operation technology and construction requirements,the roller operating route model including the straight line and the lane changing curve is established,and the lane changing trajectory is designed by using the Bezier curve,and the curvature and the change rate of the curvature are constrained.The lane-changing trajectory curve is optimized.Finally,the parameter uncertainty of the roller during the operation process is analyzed,and the adaptive robust control algorithm based on the U-K theory is used to design a linear trajectory tracking controller and a lane-changing trajectory tracker.Through the simulation of typical operating conditions,the effectiveness of the controller designed in this paper is verified.