基于动力学前馈补偿的无人履带车辆轨迹跟踪控制方法

doi:10.13229/j.cnki.jdxbgxb.20250371

摘要/Abstract

摘要：

针对运动学模型应用于无人履带车辆轨迹跟踪控制时存在模型失配的问题，提出了一种基于动力学前馈补偿的履带车辆轨迹跟踪控制方法。首先，基于剪切力-位移理论，建立了履带车辆转向动力学模型，并对动力学模型的有效性进行验证。然后，以零差速式转向无人履带车辆为研究对象，建立了轨迹跟踪误差模型，设计了动力学前馈补偿模型预测控制器。最后，通过实车试验对本文方法进行验证。结果表明，基于运动学模型建立的轨迹跟踪控制器经过动力学前馈补偿后，无人履带车辆轨迹跟踪控制的横向平均误差和航向角平均误差分别减小了55.67%和24.25%。该方法对于提高无人履带车辆的轨迹跟踪控制精确度具有一定的参考作用。

关键词: 履带车辆, 动力学模型, 前馈补偿, 模型预测控制器, 轨迹跟踪

Abstract:

Aiming at the model mismatch problem existing in the application of kinematic model to trajectory tracking control of unmanned tracked vehicles， a trajectory tracking control method based on feedforward compensation of dynamics was proposed for tracked vehicles. Firstly， based on the shear force-displacement theory， a steering dynamics model of the tracked vehicle was established， and the effectiveness of the dynamics model was verified. Then， taking a zero-differential steering unmanned tracked vehicle as the research object， a trajectory tracking error model was established， and a model predictive controller with dynamic feedforward compensation was designed. Finally， the proposed method was verified through field vehicle tests. The experimental results show that after the trajectory tracking controller based on the kinematic model is compensated by dynamic feedforward， the average lateral error and average heading angle error of the unmanned tracked vehicle's trajectory tracking control are reduced by 55.67% and 24.25%， respectively. The proposed method can be used as a reference for improving the trajectory tracking control accuracy of unmanned tracked vehicles.

Key words: tracked vehicles, dynamic model, feedforward compensation, model predictive controller, trajectory tracking

中图分类号:

TJ810.1

贾伟健,赵耀,胡朋磊,王晓兵,孟博文. 基于动力学前馈补偿的无人履带车辆轨迹跟踪控制方法[J]. 吉林大学学报(工学版), 2026, 56(10): 2554-2565.

Wei-jian JIA,Yao ZHAO,Peng-lei HU,Xiao-bing WANG,Bo-wen MENG. Trajectory tracking control method of unmanned tracked vehicle based on feedforward compensation of dynamics[J]. Journal of Jilin University(Engineering and Technology Edition), 2026, 56(10): 2554-2565.

图/表 18

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表1

履带车辆10次匀速圆周转向横摆角速度和轨迹 (跟踪平均误差变化情况)"

序号	$v ˉ t h$ / （m·s^-1）	$R$ /m	运动学模型		转向动力学模型
序号	$v ˉ t h$ / （m·s^-1）	$R$ /m	$θ ˙ e r r o r_m$ /（m·s^-1）	$p e r r o r_m$ /m	$θ ˙ e r r o r_m$ / （m·s^-1）	$p e r r o r_m$ /m
1	2.3	12.28	2.036	5.793	0.278	1.172
2	2.6	11.24	2.44	6.34	0.866	0.263
3	2.6	16.35	1.86	17.46	0.07	2.97
4	2.6	18.12	1.78	16.69	0.103	1.52
5	2.6	18.5	1.68	11.56	0.21	1.68
6	2.6	19.64	1.46	12.33	0.213	1.94
7	3.3	12.6	2.66	6.04	0.53	1.55
8	3.5	19.5	2.11	13	0.34	2.12
9	3.6	12.8	3.21	7.65	0.57	1.61
10	3.7	20.3	2.18	13.9	0.07	2.28

表1

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参考文献 14

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