CN110716565B - Track vehicle navigation track tracking control system - Google Patents
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Abstract
The invention discloses a track following control system for track vehicle navigation, which comprises a GNSS navigation system reference station, a GNSS navigation system mobile station, a track vehicle and a track following controller, wherein the GNSS navigation system reference station and the GNSS navigation system mobile station calculate the real-time position and course of the track vehicle, and the track following controller is designed as follows: 1) Establishing a track tracking error model according to a kinematic equation of the tracked vehicle; 2) Designing an organization layer controller, which comprises a vehicle pose sliding mode controller, a state estimator and a Kalman filter; 3) Designing a coordination layer controller which comprises a track speed relation mapping, a coordination controller based on function distribution and a fuzzy controller based on a variable discourse domain, and realizing the speed control of a left track and a right track through an execution layer so as to complete the track tracking control of the tracked vehicle; the method has the advantages of strong environment adaptability, simple operation, good real-time property, high reliability, good stability and the like.
Description
Technical Field
The invention relates to a vehicle track tracking control technology, in particular to a tracked vehicle navigation track tracking control system based on a hierarchical control strategy.
Background
The tracked vehicle has the advantages of large driving force, small ground pressure, good trafficability and the like, can be well adapted to special terrains, is widely applied to the fields of military vehicles, agricultural machinery, engineering machinery and the like, and has attracted more and more attention by people in the research of track tracking control. The interaction among the track, the load wheel and the ground in the tracked vehicle can produce the phenomenon such as slip, subsidence, and structural error and control system model defect and road surface inequality that vehicle self still exists have lead to tracked vehicle's actual operation route can and set for there is certain deviation between the route, seriously influence tracked vehicle's working property. When an auxiliary navigation system is installed on the tracked vehicle to achieve autonomous navigation control of the system, the tracked vehicle needs to achieve trajectory tracking control autonomously, the tracked vehicle belongs to a typical multidimensional coupling system, and the tracking control performance of the tracked vehicle under the unmanned working condition is difficult to guarantee by an existing control structure. Therefore, there is a need for an improved track control structure for a track-laying vehicle to accommodate track-following control requirements of the track-laying vehicle under such conditions. Due to the fact that the updating rate of the universal GNSS navigation system is low, the real-time position and the course of the tracked vehicle are difficult to accurately detect in the process of turning over the ground, a state estimator needs to be designed to estimate the position and the course of the tracked vehicle under the turning working condition, and data of the state estimator and the GNSS navigation system are fused to improve the detection accuracy of the real-time position and the course of the tracked vehicle.
Disclosure of Invention
The invention aims to solve the problem that the track tracking control precision of the existing tracked vehicle is low under the condition of autonomous navigation, and provides a tracked vehicle navigation track tracking control system based on a hierarchical control strategy.
The technical purpose is achieved through the following technical scheme.
A track-type vehicle navigation track tracking control system comprises a GNSS navigation system reference station, a GNSS navigation system mobile station, a track-type vehicle and a track tracking controller, wherein the GNSS navigation system reference station sends an observed value and coordinate information of a survey station to the GNSS navigation system mobile station, the GNSS navigation system mobile station collects GNSS observed data while receiving the GNSS navigation system reference station data, accordingly, the real-time position and the course of the track-type vehicle are calculated, and the track tracking controller tracks and controls the track of the track-type vehicle according to the real-time position and the course.
In the technical scheme, the GNSS antenna I and the radio station I in the GNSS navigation system reference station are both connected with the GNSS receiver I, and the GNSS receiver I is connected with the power supply module I.
In the technical scheme, the GNSS antenna II, the GNSS antenna III and the radio station II in the GNSS navigation system mobile station are connected with the GNSS receiver II, and the GNSS receiver II is connected with the power supply module II.
In the technical scheme, the track tracking controller comprises an organization control layer, a coordination control layer and an execution layer which are in signal connection, the coordination layer controller distributes the control quantity of the speed and the angular speed of the tracked vehicle output by the organization layer controller, the control quantity is converted into the control of the left and right track speeds of the tracked vehicle, and the track tracking control of the tracked vehicle is completed through the execution layer.
In the above technical solution, the organization layer controller includes a vehicle pose sliding mode controller, and the inputs of the vehicle pose sliding mode controller are: the difference value between the position and the course of the tracked vehicle and the real-time position and the course of the tracked vehicle decomposed by the theoretical planning path is output as follows: the speed and angular velocity of the tracked vehicle.
In the technical scheme, the real-time position and the real-time course of the tracked vehicle are obtained by fusing data of the GNSS navigation system and the state estimator through a Kalman filter.
In the above technical solution, the coordination layer controller is specifically: the control quantity of the speed and the angular speed of the tracked vehicle is converted into the control quantity of the speeds of the left and right tracked driving wheels through a tracked speed mapping relation, a coordination controller is designed based on a function distribution theory, and the speeds of the left and right tracked driving wheels are distributed into control weight coefficients of an electromagnetic directional valve and a hydraulic stepless speed changer in an execution layer.
In the technical scheme, the speeds of the left and right crawler driving wheels are controlled by the variable domain self-adaptive fuzzy controller according to the control weight coefficients of the electromagnetic directional valve and the hydraulic stepless speed changer, so that the speeds of the left and right crawler driving wheels of the crawler vehicle are controlled, and the track tracking control of the crawler vehicle is further completed.
The invention has the beneficial effects that: compared with the prior art, the track tracking control method based on the hierarchical control strategy is constructed for the autonomous navigation tracked vehicle, the track tracking control of the tracked vehicle is ensured through the vehicle pose sliding mode controller, the state estimator and the Kalman filter in the organizational layer, and meanwhile, the problem that the position and course detection precision of the tracked vehicle is low due to the fact that the GNSS navigation system is low in updating speed when the ground is turned can be solved; converting the speed and angular speed control quantity of the tracked vehicle output by the tissue layer into control weight coefficients of an electromagnetic directional valve and a hydraulic stepless speed changer in an execution layer through a track speed mapping relation in a coordination layer and a coordination controller based on function distribution, realizing speed control of left and right track driving wheels of the tracked vehicle by a variable domain self-adaptive fuzzy controller, and driving tracks by the track driving wheels; the method has the advantages of strong environment adaptability, simple operation, good real-time property, high reliability, good stability and the like.
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FIG. 1 is a schematic structural diagram of a tracked vehicle navigation trajectory tracking control system based on a hierarchical control strategy according to the present invention;
FIG. 2 is a schematic diagram of a GNSS navigation system reference station;
FIG. 3 is a schematic diagram of a GNSS navigation mobile station;
FIG. 4 is a schematic diagram of a track following controller for a tracked vehicle according to the present invention;
FIG. 5 is a schematic view of the linear motion of a tracked vehicle according to the present invention.
In the figure: the system comprises a 1-GNSS navigation system reference station, a 2-GNSS navigation system mobile station, a 3-tracked vehicle, a 4-track tracking controller, a 1-1-power supply module I, a 1-2-GNSS antenna I, a 1-3-GNSS receiver I, a 1-4-radio station I, a 2-1-power supply module II, a 2-2-GNSS antenna II, a 2-3-GNSS antenna III, a 2-4-GNSS receiver II and a 2-5-radio station II.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1, a tracked vehicle navigation trajectory tracking control system based on a hierarchical control strategy comprises a GNSS navigation system reference station 1, a GNSS navigation system mobile station 2, a tracked vehicle 3 and a trajectory tracking controller 4; the GNSS navigation system reference station 1 sends the measured observation value and the coordinate information of the survey station to the GNSS navigation system mobile station 2 through a wireless data link, the GNSS navigation system mobile station 2 collects GNSS observation data while receiving the data of the GNSS navigation system reference station 1, a GNSS receiver in the GNSS navigation system mobile station 2 receives the observation information of the GNSS navigation system reference station 1 and the GNSS navigation system mobile station 2, the real-time position and the course of the tracked vehicle 3 are obtained through the difference calculation of the position and the course, and the track tracking controller 4 realizes the track tracking control of the tracked vehicle according to the real-time position and the course of the tracked vehicle 3.
As shown in fig. 2, the GNSS navigation system reference station 1 includes a power supply module i 1-1, a GNSS antenna i 1-2, a GNSS receiver i 1-3, and a radio station i 1-4, the power supply module i 1-1 is connected to the GNSS receiver i 1-3 through a power line, and the GNSS antenna i 1-2 and the radio station i 1-4 are both connected to the GNSS receiver i 1-3 through a data line; the GNSS antenna I1-2 receives satellite signals, the GNSS receiver I1-3 calculates observation values and station coordinate information required by differential positioning of a GNSS navigation system, and the observation values and the station coordinate information are sent out through the radio station I1-4.
As shown in fig. 3, the GNSS navigation system mobile station 2 includes a power supply module ii 2-1, a GNSS antenna ii 2-2, a GNSS antenna iii 2-3, a GNSS receiver ii 2-4, and a radio station ii 2-5, the power supply module ii 2-1 is connected to the GNSS receiver ii 2-4 through a power line, and the GNSS antenna ii 2-2, the GNSS antenna iii 2-3, and the radio station ii 2-5 are all connected to the GNSS receiver ii 2-4 through data lines; the GNSS antenna II 2-2 and the GNSS antenna III 2-3 receive satellite signals simultaneously, the radio station II 2-5 receives observation values and station coordinate information sent by the radio station I1-4 and transmits the observation values and the station coordinate information to the GNSS receiver II 2-4, and the GNSS receiver II 2-4 calculates the real-time position and the course of the tracked vehicle 3 according to the differential positioning principle.
As shown in fig. 4, the trajectory tracking controller 4 implements trajectory tracking control according to the real-time position and heading of the tracked vehicle, wherein the trajectory tracking controller 4 includes a coordination control layer, an organization control layer, and an execution layer that are connected by signals, specifically:
1) Establishing a trajectory tracking error model
As shown in fig. 5, the projection coordinates of the centroid of the tracked vehicle 3 in the global coordinate system XOY are (x, y), and θ is the attitude angle of the tracked vehicle 3, and the vector [ x, y, θ [ ]] T Representing the pose of the tracked vehicle 3, from the geometrical relations in the global coordinate system XOY the following kinematic equations of the tracked vehicle 3 can be established:
where v is the advancing speed of the track-laying vehicle 3 in the global coordinate system, and ω is the steering angular speed of the track-laying vehicle 3 in the global coordinate system.
Defining the track following error of the tracked vehicle 3 in the global coordinate system XOY as [ x r -x,y r -y,θ r -θ] T Converting the global coordinate system XOY into the local coordinate system XOY of the tracked vehicle 3, the trajectory tracking error equation of the tracked vehicle 3 can be obtained as follows:
in the formula, x r 、y r 、θ r Is a reference pose, x, of the tracked vehicle 3 in a global coordinate system e 、y e 、θ e The pose deviation of the tracked vehicle 3 under the local coordinate system is obtained.
The differential equation of the track tracking error of the tracked vehicle 3 can be obtained by differentiating the equation (2) and combining the kinematic equation of the equation (1) as follows:
in the formula, v r For a reference forward speed, ω, of the tracked vehicle 3 in a global coordinate system r Is the reference steering angular velocity of the tracked vehicle 3 in the global coordinate system.
2) Organizational layer controller design
Designing a vehicle pose sliding mode controller of the tracked vehicle 3 according to the established track tracking error model (formula (3)) of the tracked vehicle 3 by adopting a sliding mode control theory; decomposing the theoretical planned path into a reference path of the position and the heading of the tracked vehicle 3 according to a subsection following control strategy, taking the real-time position and the heading of the tracked vehicle 3 as feedback signals of an organization layer controller, subtracting the position and the heading of the tracked vehicle 3 decomposed by the theoretical planned path from the measured real-time position and the heading of the tracked vehicle 3, inputting the difference into a vehicle pose sliding mode controller, and outputting the control quantity of the speed v and the angular speed omega of the tracked vehicle 3 by the vehicle pose sliding mode controller.
Establishing a state vector of a vehicle pose sliding mode controller as follows:
differentiating equation (4) and combining equation (3) can obtain:
sliding mode surface s for establishing vehicle pose sliding mode controller 1 、s 2 ：
In the formula, parameter xi 1 、ξ 2 >0。
To slip form surface s 1 、s 2 The derivation is carried out and substituted into equation (3) to obtain:
the sliding mode index approach law is selected as follows:
in the formula, the parameter κ 1 、κ 2 、λ 1 、λ 2 >0,slaw represents the sliding mode approach law.
Finally, combining the formulas (7) and (8), the posture sliding mode control law of the tracked vehicle 3 can be obtained as follows:
because the GNSS navigation system has a low update rate, it is difficult to accurately detect the real-time position and heading of the tracked vehicle 3 during the course of turning over the ground, the speed and angular velocity of the tracked vehicle 3 during the turning process are identified on-line by the following state estimation model (besahu glu, snow, shin & chang. Longitudinal slip state track tracking control of wheeled mobile robots [ J ]. China machinery, 2018, 29 (16): 1958-1964):
in the formula (I), the compound is shown in the specification,
estimated speed and angular speed, r, of the tracked vehicle 3 for time n L 、r R Radius, omega, of the left and right driving wheels, respectively, of the tracked vehicle 3 L (n-1)、ω R (n-1) angular velocities, i, of the left and right drive wheels of the tracked vehicle 3 at time n-1, respectively L 、i R The slip coefficients of the left and right tracks of the track-type vehicle 3, D represents the width of the vehicle body of the track-type vehicle 3, and b represents the width of the tracks, respectively.
The position and the course of the tracked vehicle 3 in the turning process can be estimated by combining the formula (1) and integrating operation, and the data of the state estimator and the GNSS navigation system are fused by using the Kalman filter, so that the position and the course of the tracked vehicle 3 can be accurately acquired in real time in the turning process of the tracked vehicle 3.
3) Coordination layer controller design
The tracked vehicle 3 is moved by controlling the speed v of the left and right track drive wheels L 、v R What is achieved, and the control amounts output by the organization layer controller are the speed v and the angular velocity ω of the track vehicle 3. Therefore, the control amounts of the speed v and the angular velocity ω of the track-type vehicle 3 are converted into the left and right track driving wheel speeds v according to the track speed map L 、v R The control amount of (2) is mapped as shown in equation (11).
Wherein: d denotes the width of the vehicle body of the track vehicle 3, and b denotes the width of the track.
Speed v of left and right track driving wheels of the track-type vehicle 3 L 、v R The method is realized by matching an electromagnetic directional valve and a hydraulic stepless speed changer in an execution layer, and a layer controller is designed and coordinated according to a function distribution theory to regulate the speed v of a crawler driving wheel L 、v R Control weight coefficients of an electromagnetic directional valve and a hydraulic stepless speed changer in an execution layer are distributed, and the distribution principle is according to a model of a mechanical structure and a steering/driving system of an actual tracked vehicle; according to the control weight coefficients of the electromagnetic directional valve and the hydraulic stepless speed changer, the corresponding electromagnetic directional valve and the hydraulic stepless speed changer in the execution layer are controlled by using the variable domain self-adaptive fuzzy controller, so that the speed v of the left and right crawler driving wheels of the crawler-type vehicle 3 is realized L 、v R The crawler is driven by the crawler driving wheel. The real-time position and the course of the tracked vehicle 3 measured by the GNSS navigation system reference station 1 and the GNSS navigation system mobile station 2 are fused by the data of a Kalman filter and a state estimator to obtain the corrected real-time position and the corrected course of the tracked vehicle 3, then the corrected real-time position and the corrected course of the tracked vehicle 3 are compared with a reference path, the control quantity of the speed v and the angular speed omega of the tracked vehicle 3 is obtained by the adjustment of a vehicle pose sliding mode controller in an organizational layer, and then the speed v of left and right track driving wheels of the tracked vehicle 3 is controlled by a coordination layer controller L 、v R The control is repeated in such a way as to finally make the tracking error of the tracked vehicle 3 equal to zero.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. A tracked vehicle navigation trajectory tracking control system is characterized in that: the track tracking control system comprises a GNSS navigation system reference station (1), a GNSS navigation system mobile station (2), a tracked vehicle (3) and a track tracking controller (4), wherein the GNSS navigation system reference station (1) sends an observed value and station coordinate information to the GNSS navigation system mobile station (2), the GNSS navigation system mobile station (2) collects GNSS observed data while receiving the data of the GNSS navigation system reference station (1), the real-time position and the course of the tracked vehicle (3) are calculated according to the GNSS observed data, and the track tracking controller (4) tracks and controls the track of the tracked vehicle according to the real-time position and the course;
the track tracking controller (4) comprises a coordination control layer, an organization control layer and an execution layer which are in signal connection, and the method specifically comprises the following steps:
1) Establishing a trajectory tracking error model
The projection coordinates of the mass center of the tracked vehicle (3) in the global coordinate system XOY are (x, y), theta is the attitude angle of the tracked vehicle (3), and the following kinematic equation of the tracked vehicle (3) is established according to the geometrical relationship in the global coordinate system XOY:
wherein v is the advancing speed of the tracked vehicle (3) in the global coordinate system, and omega is the steering angular speed of the tracked vehicle (3) in the global coordinate system;
defining the track tracking error of the tracked vehicle (3) in the global coordinate system XOY as [ x ] r -x,y r -y,θ r -θ] T And under the local coordinate system xoy of the tracked vehicle (3), the track tracking error equation of the tracked vehicle (3) is as follows:
in the formula, x r 、y r 、θ r Is a reference pose, x, of the tracked vehicle (3) in a global coordinate system e 、y e 、θ e The pose deviation of the tracked vehicle (3) under a local coordinate system is obtained;
differentiating the formula 2), and combining the kinematic equation of the formula 1), obtaining a differential equation of the track tracking error of the tracked vehicle (3), wherein the differential equation is as follows:
in the formula, v r Is a reference forward speed, omega, of the tracked vehicle (3) in a global coordinate system r Is a reference steering angular speed of the tracked vehicle (3) in a global coordinate system;
2) Organizational layer controller design
Designing a vehicle pose sliding mode controller according to a track tracking error model of the tracked vehicle (3), decomposing a theoretical planning path into a reference path of the position and the course of the tracked vehicle (3) according to a segmented following control strategy, and establishing a state vector of the vehicle pose sliding mode controller as follows:
differentiating equation 4) and combining equation 3) can yield:
sliding mode surface s for establishing vehicle pose sliding mode controller 1 、s 2 ：
In the formula, parameter xi 1 、ξ 2 >0；
To slip form surface s 1 、s 2 Taking the derivative and substituting into equation 3) can yield:
the sliding mode index approach law is selected as follows:
in the formula, the parameter κ 1 、κ 2 、λ 1 、λ 2 >0,slaw represents the sliding mode approach law;
and finally, combining the formulas 7) and 8) to obtain the posture sliding mode control law of the tracked vehicle (3) as follows:
-identifying on-line the speed and angular speed of the tracked vehicle (3) during a turn by means of a state estimation model as follows:
in the formula (I), the compound is shown in the specification,
estimated speed and angular speed, r, of the tracked vehicle (3) for time n L 、r R Radius, omega, of left and right driving wheels of a tracked vehicle (3), respectively L (n-1)、ω R (n-1) angular velocities, i, of left and right drive wheels of the tracked vehicle (3) at time n-1, respectively L 、i R The slip coefficients of the left track and the right track of the tracked vehicle (3) are respectively shown, D represents the width of the vehicle body of the tracked vehicle (3), and b represents the width of the tracks;
the position and the course of the tracked vehicle (3) in the turning process are estimated by integrating operation in combination with the formula 1), and the data of the state estimator and the GNSS navigation system are fused by utilizing a Kalman filter;
3) Coordination layer controller design
The control amount of the velocity v and the angular velocity ω of the track-type vehicle (3) is converted into the left and right tracks on the basis of the track velocity mapSpeed v of the driving wheel L 、v R The mapping relationship is shown in equation 11):
in the formula: d represents the width of the body of the track-laying vehicle (3), and b represents the width of the track.
2. The tracked vehicle navigation trajectory tracking control system of claim 1, wherein: GNSS antenna I (1-2) and radio station I (1-4) in GNSS navigation system reference station (1) all are connected with GNSS receiver I (1-3), and GNSS receiver I (1-3) is connected with power module I (1-1).
3. The tracked vehicle navigation trajectory tracking control system of claim 1, wherein: GNSS antenna II (2-2), GNSS antenna III (2-3) and radio station II (2-5) in GNSS navigation system mobile station (2) all are connected with GNSS receiver II (2-4), GNSS receiver II (2-4) is connected with power module II (2-1).
4. The tracked vehicle navigation trajectory tracking control system of claim 1, wherein: the track tracking controller (4) comprises an organization control layer, a coordination control layer and an execution layer which are in signal connection, the coordination layer controller distributes the control quantity of the speed and the angular speed of the tracked vehicle output by the organization layer controller, the control quantity is converted into the control of the left and right track speeds of the tracked vehicle, and the track tracking control of the tracked vehicle is completed through the execution layer.
5. The tracked vehicle navigation trajectory tracking control system of claim 4, wherein: the organization layer controller comprises a vehicle pose sliding mode controller, and the input of the vehicle pose sliding mode controller is as follows: the difference value between the position and the course of the tracked vehicle and the real-time position and the course of the theoretically planned path is output as follows: the speed and angular velocity of the tracked vehicle.
6. The tracked vehicle navigation trajectory tracking control system of claim 5, wherein: and the real-time position and the course of the tracked vehicle are obtained by fusing data of the GNSS navigation system and the state estimator through a Kalman filter.
7. The tracked vehicle navigation trajectory tracking control system of claim 4, wherein: the coordination layer controller is specifically as follows: the control quantity of the speed and the angular speed of the tracked vehicle is converted into the control quantity of the speed of the left and right tracked driving wheels through a tracked speed mapping relation, a coordination controller is designed based on a function distribution theory, and the speed of the left and right tracked driving wheels is distributed into control weight coefficients of an electromagnetic reversing valve and a hydraulic stepless speed changer in an execution layer.
8. The tracked vehicle navigation trajectory tracking control system of claim 7, wherein: the speed of the left and right crawler driving wheels is controlled by controlling the corresponding electromagnetic directional valve and the hydraulic stepless speed changer in the execution layer by using the variable-discourse-area self-adaptive fuzzy controller according to the control weight coefficients of the electromagnetic directional valve and the hydraulic stepless speed changer, so that the speed of the left and right crawler driving wheels of the crawler vehicle is controlled, and the track tracking control of the crawler vehicle is further completed.
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