谢 辉，赵龙同，阮迪望
AuthorsHTML:谢 辉，赵龙同，阮迪望
AuthorsListE:Xie Hui，Zhao Longtong，Ruan Diwang
AuthorsHTMLE:Xie Hui，Zhao Longtong，Ruan Diwang
Unit:天津大学机械工程学院，天津 300072
Unit_EngLish:School of Mechanical Engineering，Tianjin University，Tianjin 300072，China
Abstract_Chinese:循迹控制是实现智能振动碾压机自动化工作的重要环节．为了改善智能振动碾压机在非结构化路面环境下的循迹效果，解决现有控制算法存在的调参工作量大以及鲁棒性低等问题，本文提出了一种基于扰动观测的反步控制方法．首先，建立了振动碾压机的整车运动学模型和一种具有预测功能的误差动态模型．然后，基于一台改装的智能振动碾压机平台研究了外界扰动对车辆的铰接角度、航向角度及位置的影响规律，发现外界扰动对碾压机的铰接角、航向角度的影响需要实时观测估计，而对碾压机轮位置的影响可通过姿态信息修正补偿．最后，在以上研究的基础上设计了扩张状态观测器用于实时估计系统内外总扰动，从而将误差动态模型简化为串联积分型系统，并基于李雅普诺夫函数设计控制器的反馈控制律．Simulink和硬件在环的仿真结果表明：在车辆的铰接角、航向角同时受内部、外界扰动作用的情况下，循迹连续弯道曲线中距离、角度和曲率误差的最大值分别为0.088m、0.118rad和0.042m^-1．说明基于扰动观测的反步控制方法展现了良好的控制精度和鲁棒性．
Abstract_English:Path following is an important link to realize the automatic operation of intelligent vibration rollers．The existing control algorithms have problems such as large workloads imposed by the adjustment of parameters and low robustness．In order to improve the tracking effect of an intelligent vibrating roller in an unstructured road environment and solve these problems，a backstepping control method based on disturbance observation was designed．First，the kinematics model of the vibration roller and a novel error dynamics model with prediction function were established．Then，the influence of external disturbance on articulation angle，heading angle，and roller position in a modified intelligent vibration roller platform was studied．Real-time observation and estimation are necessary to determine the influence of external disturbance on the articulation angle and heading angle of a roller，and the influence on the roller position can be corrected by attitude information．Finally，based on the above research，an extended state observer was designed to estimate the total disturbances in real time．This observer simplifies the error dynamic model to a series integral system．The feedback control law of the controller was designed based on Lyapunov function．Simulink and hardware-in-the-loop simulation results show that the maximum values of the distance，angle，and curvature errors are 0.088m，0.118rad，and 0.042m^-1，respectively，under the condition that both the articulation angle and heading angle of the roller are disturbed by internal and external disturbances．The results show that the backstepping control method based on disturbance observation exhibits good robustness and accuracy．
Keyword_Chinese:振动碾压机；反步控制；扩张状态观测器；循迹控制
Keywords_English:vibration roller；backstepping contral；extended state observer；path following control

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