Research On Trajectory Tracking Control Of Driverless Heater With Hot-Air

As a type of mechanical equipment for road maintenance engineering,the heater with hotair can effectively improve the working environment of operators and reduce labor intensity by applying driverless technology,with trajectory tracking control being a crucial component of the driverless system.The heating machine is usually used for highway operations,and improper adjustment or excessive correction of the trajectory tracking control parameters may result in reduced accuracy and affect the quality of the operation.To address these issues,this study focuses on the trajectory tracking control problem in the driverless of a specific type of heater with hot-air.First,based on the trajectory tracking control requirements of the heating machine,the constraints on the trajectory tracking process are proposed,and the solutions for the positioning system,perception system,and path planning algorithm are determined.The existing lookahead PID trajectory tracking control algorithm of the heating machine is simulated and tested under typical working conditions.The results show that the corrective performance of the heating machine trajectory tracking control is not satisfactory under the action of this controller,and the lateral error does not meet the operational requirements under curved trajectory tracking situations.Second,the Linear Time Varying Model Predictive Control(LTV-MPC)algorithm is adopted to study the trajectory tracking control of the heating machine.The center of mass kinematic model of the heating machine is established as the predictive model,and the constraint conditions are established through experimental parameter acquisition,thus completing the LTV-MPC trajectory tracking controller based on the center of mass kinematic model of the heating machine.Finally,through joint simulations,the performance of the designed LTV-MPC trajectory tracking controller under typical working conditions is studied.For the corrective performance,simulation studies of trajectory tracking with different initial positions are conducted.For the curvature adaptability of the controller,simulation studies under different curvature trajectories are conducted.The research results show that the designed trajectory tracking controller has small tracking errors under straight-line,curved,and lane-changing working conditions,and the control inputs and increments remain within the constraint range during the control process,meeting the operational requirements.The controller exhibits minimal overshoot during trajectory tracking with different initial positions,and it can follow the desired trajectory with good posture under different curvature trajectories,demonstrating good corrective performance and curvature adaptability.