杜 续,宋 康,谢 辉
AuthorsHTML:杜 续，宋 康，谢 辉
AuthorsListE:Du Xu,Song Kang,Xie Hui
AuthorsHTMLE:Du Xu，Song Kang，Xie Hui
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:无人碾压机是降低人工作业负担、改善碾压作业品质和效率的重要技术途径．但由于碾压机吨位高、转向 阻力大，且经常工作在复杂非结构路面上，常规车辆轨迹跟踪算法的能耗通常较高，影响了控制系统的电能平衡、 可靠性以及综合能效．为此，针对运行在水电大坝上的无人碾压机，提出了面向节能的串级抗扰轨迹跟踪算法，同 时研究了该算法对无人碾压机转向系统能耗的影响规律．首先，针对碾压机高吨位造成的转向速度慢、寻迹易超调 的问题，采用位置预瞄算法对转向系统进行提前控制，进而减少超调量，降低能耗．其次，针对车辆受路面起伏干 扰定位量测噪声大的问题，提出了车身姿态校正算法，通过测取无人碾压机前、后车身的横滚角对定位结果进行修 正，减少噪声干扰，降低能耗．最后，为定位中小幅度高频噪声的干扰，通过采用非线性误差反馈控制律控制，降 低方向盘在小距离误差带内的高频波动，实现转向系统节能．在水电大坝建设现场开展了实车试验，结果表明； ①采用优化的预瞄距离与无预瞄的标称控制器相比，可降低转向电机能量消耗 24.7%，使得轨迹跟踪精度稳定在 ±0.15 m；②采用姿态校正算法可以减少转向电机 29.2%的能量消耗，并将轨迹跟踪精度改善了 33.0%；③采用非线 性误差反馈控制律在距离误差无明显恶化(0.06 m 内)情况下，可降低转向电机能耗 31.8%．
Abstract_English:The unmanned roller is an important technique to reduce the burden of manual work and improve the quality and efficiency of rolling operation. However，because of the high tonnage，high steering resistance，and frequent working on complex unstructured road surfaces，the energy consumption of the conventional vehicles’path-following algorithms is usually high，which affects the power balance，reliability，and comprehensive energy efficiency of the control system. Hence，an energy-saving cascade disturbance rejection path-following algorithm is proposed for an unmanned roller running on a hydropower dam. At the same time，the influence of the algorithm on the energy consumption of the steering system of the unmanned roller is studied. First，a position preview algorithm is used to con\u0002trol the steering system in advance to reduce the overshoot caused by the heavy load and to reduce energy consumption. Second，a vehicle body attitude correction algorithm is proposed to resolve the problem of disturbances in the vehicle caused by road surface undulation. By measuring the roll angle of the front and rear body of the unmanned roller compactor，the positioning results are corrected to reduce the noise interference and energy consumption. Finally，to reduce the high-frequency fluctuation of the steering wheel in the small range error band，a nonlinear error feedback control law is used to save energy in the steering system. A real vehicle test was conducted at the hydropower dam’s construction site. The results show that：①Compared with the nominal controller without preview，the opti-mized preview distance can reduce the energy consumption of the steering motor by 24.7% and make the path following accuracy stable at ±0.15 m；②Using the attitude correction algorithm，the energy consumption of the steering motor can be reduced by 29.2% and the path-following accuracy can be improved by 33.0%；③Using nonlinear error feedback control law，the energy consumption of the steering motor can be reduced by 31.8% without the usual deterioration of distance error(within 0.06 m).
Keyword_Chinese:无人碾压机；轨迹跟踪；能耗优化控制；预瞄算法；姿态校正
Keywords_English:unmanned roller；path-following；energy consumption optimization control；preview algorithm； attitude correction

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