CN113848953B - Unmanned path tracking control method for large-scale hydraulic plant protection machine - Google Patents
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention provides a unmanned path tracking control method of a large hydraulic plant protection machine, which comprises the following steps: acquiring a working reference path of the plant protection machine, and performing discretization treatment to obtain a working reference path point set of the plant protection machine; predicting a predicted point of the plant protection machine after a set time based on the current position and the course angle of the plant protection machine; searching corresponding projection points of the predicted points in the reference path point set; calculating the transverse deviation and the course deviation between the predicted point and the projection point; converting the transverse deviation and the course deviation between the predicted point and the projection point into a synthetic error; based on the synthetic error, a PID controller is adopted to obtain the expected front wheel corner.
Description
Technical Field
The invention belongs to the field of unmanned agricultural machinery vehicle path tracking, and particularly relates to an unmanned path tracking control method and system for a large-scale hydraulic plant protection machine.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The transverse control of the large plant protection machine is a key technology for realizing unmanned agricultural machinery, and the path tracking is to enable the plant protection machine to travel according to a preset working path under the unmanned condition, control the agricultural machinery to track the preset working path all the time through autonomous steering, and complete agricultural work during path tracking. The unmanned technique of the plant protection machine can liberate an agricultural machine operator from long-time boring driving tasks, so that the safety problem caused by fatigue driving is avoided, and meanwhile, the precision and the working efficiency of the plant protection machine in the working process are improved. Has great promotion effect on the development of domestic large-scale agriculture.
At present, the traditional hydraulic plant protection has the problems of low level of organic intelligence, poor flexibility and the like, and personal risks are easily caused by improper operation during manual driving. When unmanned control is carried out on the existing hydraulic control driven plant protection machine, as the hydraulic system is used for controlling operation action, signal response is slow, hysteresis is provided when path tracking control is carried out, and tracking errors are relatively large when straight lines and curves are tracked.
Disclosure of Invention
In order to solve the problems, the invention provides a unmanned path tracking control method and system for a large-scale hydraulic plant protection machine.
According to some embodiments, the present invention employs the following technical solutions:
in a first aspect, the invention provides an unmanned path tracking control method for a large hydraulic plant protection machine.
A unmanned path tracking control method of a large-scale hydraulic plant protection machine comprises the following steps:
acquiring a working reference path of the plant protection machine, and performing discretization treatment to obtain a working reference path point set of the plant protection machine;
predicting a predicted point of the plant protection machine after a set time based on the current position and the course angle of the plant protection machine;
searching corresponding projection points of the predicted points in the reference path point set;
calculating the transverse deviation and the course deviation between the predicted point and the projection point;
converting the transverse deviation and the course deviation between the predicted point and the projection point into a synthetic error;
based on the synthetic error, a PID controller is adopted to obtain the expected front wheel corner.
Further, after the plant protection machine working reference path point set, the method comprises: and calculating the state quantity of each reference point according to the working reference path point set of the plant protection machine, wherein the state quantity of each reference point comprises the abscissa of the reference point, the ordinate of the reference point and the course angle.
Further, the process of predicting the predicted point of the plant protection machine after the set time based on the current position and the course angle of the plant protection machine comprises the following steps: based on the current position and course angle of the plant protection machine, the position and course angle of the plant protection machine after the set time is predicted by combining the speed of the plant protection machine.
Further, the process of searching the projection points corresponding to the predicted points in the reference path point set includes: calculating the distance from each reference point in the reference path point set to the predicted point based on the predicted point, and determining the nearest reference point to the predicted point as the nearest point; and obtaining a projection point of the predicted point on the reference path according to the nearest point.
Further, the course deviation is equal to the course angle of the plant protection machine at the current position minus the course angle at the projection point on the reference path.
Further, the heading angle at the projection point on the reference path is equal to the heading angle of the nearest point on the reference path.
Further, the transverse deviation is determined according to the normal vector of the nearest point and the position relation between the current position of the plant protection machine and the nearest point.
Further, the process of converting the lateral deviation and the heading deviation between the predicted point and the projected point into a composite error includes: and introducing a conversion factor, and converting the lateral deviation and the course deviation at the predicted point and the projected point into a composite error, wherein the composite error comprises the lateral error corresponding to the lateral deviation and the course error corresponding to the course deviation.
Further, the process of obtaining the desired front wheel corner using a PID controller based on the composite error includes: based on the composite error, a PID controller is adopted to obtain the expected front wheel corner when tracking the straight line and the expected front wheel corner when tracking the curve.
In a second aspect, the present invention provides a large hydraulic plant protection machine.
The utility model provides a large-scale hydraulic pressure plant protection machine, includes on-vehicle controller, on-vehicle controller is when the plant protection machine operation, carries out the unmanned route tracking control method of large-scale hydraulic pressure plant protection machine of the first aspect, through controlling the flow direction of switching-over valve control fluid according to the expected front-wheel steering angle that obtains, control steering cylinder's flexible, makes the steering linkage who connects at the hydro-cylinder both ends rotate, realizes the steering of plant protection machine.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, through predictive control, the error between the next moment and the reference path is obtained through the predictive point, and the expected front wheel corner is decided by the error, so that the hysteresis of the hydraulic plant protection machine in path tracking can be reduced.
The invention obtains two combined errors by introducing two groups of conversion factor combinations, respectively decides the front wheel rotation angle when tracking the straight line and the curve, and has good applicability to both the straight line path and the curve path.
The method is simple in algorithm principle and low in calculation complexity, is not only suitable for the simulation field, but also can be used for path tracking control of the hydraulic plant protection machine.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic top view of a plant protection machine arrangement shown in the present disclosure;
FIG. 2 is an isometric view of a plant protection machine layout schematic of the present invention;
FIG. 3 is a schematic top view of a plant protection machine turning structure according to the present invention;
FIG. 4 is a flowchart of a plant protection machine tracking control algorithm shown in the present invention;
FIG. 5 is a schematic diagram of a two degree of freedom kinematic model of the plant protection machine shown in the present invention;
FIG. 6 is a schematic representation of predicted point expression in accordance with the present invention;
FIG. 7 is a schematic illustration of lateral deviation and heading deviation calculations in accordance with the present invention;
the device comprises 1-1 parts of an engine, 1-2 parts of a variable plunger pump, 1-3 parts of a permanent magnet synchronous motor, 1-4 parts of a steering cylinder, 1-5 parts of a control valve group, 1-6 parts of a hydraulic oil tank, 1-7 parts of an oil radiator, 1-8 parts of a gear pump, 1-9 parts of a spray suspension bracket, 1-10 parts of a spray rod, 1-11 parts of a fan-shaped spray head, 1-12 parts of a lifting cylinder, 2-1 parts of a rear wheel driving motor, 2-2 parts of a front wheel driving motor, 3-1 parts of a steering connecting rod and 1,3-2 parts of a steering connecting rod 2.
The specific embodiment is as follows:
the invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the term "comprising" when used in this specification is taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
In the present invention, terms such as "coupled" and the like are to be construed broadly and mean either fixedly coupled or integrally coupled or detachably coupled; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the present invention can be determined according to circumstances by a person skilled in the relevant art or the art, and is not to be construed as limiting the present invention.
Example 1
The embodiment provides a unmanned path tracking control method of a large hydraulic plant protection machine.
As shown in fig. 4, a method for controlling unmanned path tracking of a large hydraulic plant protection machine includes:
acquiring a working reference path of the plant protection machine, and performing discretization treatment to obtain a working reference path point set of the plant protection machine;
predicting a predicted point of the plant protection machine after a set time based on the current position and the course angle of the plant protection machine;
searching corresponding projection points of the predicted points in the reference path point set;
calculating the transverse deviation and the course deviation between the predicted point and the projection point;
converting the transverse deviation and the course deviation between the predicted point and the projection point into a synthetic error;
based on the synthetic error, a PID controller is adopted to obtain the expected front wheel corner.
According to the design thought of the embodiment, the pose of the predicted point is calculated according to the current pose of the plant protection machine, then the course deviation and the transverse deviation between the predicted point and the projected point on the reference working path are calculated, the transverse deviation and the course deviation are converted into total errors through conversion factors, and finally the total errors are used as the input of a PID controller, so that the expected front wheel corner is determined.
The plant protection machine is shown in fig. 1-3, and comprises an engine 1-1, a variable plunger pump 1-2, a permanent magnet synchronous motor 1-3, a steering cylinder 1-4, a control valve group 1-5, a hydraulic oil tank 1-6, an oil radiator 1-7, a gear pump 1-8, a spray suspension bracket 1-9, a spray rod 1-10, a fan-shaped spray head 1-11, a lifting cylinder 1-12, a rear wheel driving motor 2-1, a front wheel driving motor 2-2, a first steering connecting rod 3-1 and a second steering connecting rod 3-2. The plant protection machine in the figure is double-power, namely oil-electricity mixed power and two power. The engine 1-1 and the variable plunger pump 1-2 are directly sleeved with a coupling; the permanent magnet synchronous motor 1-3 and the variable plunger pump 1-2 are directly sleeved with a coupler. And a speed reduction structure is arranged between the driving motors 2-1 and 2-2 and the wheels, and the speed reduction ratio is 3.
The implementation of this embodiment includes the following steps:
1. setting a reference working path of the plant protection machine, and acquiring discrete point coordinates of the reference working path by utilizing BDS at natural frequency to obtain a reference working path point set P i The state quantity of each reference path point is calculated.
As shown in FIG. 5, the plant protection machine reference working path consists of straight lines and curves, and the plant protection machine needs to complete straight running, dropping and replacing the working path for the path. The state quantity of the reference path point is X r ，Y r A kind of electronic device
2. The current pose of the plant protection machine is obtained through the BDS and the navigation sensor, and the current pose is predicted to obtain a predicted point P pre 。
The BDS positioning accuracy is in a centimeter level, the point set of the reference path is represented by an apparent plane right angle, and coordinates are converted into an absolute coordinate system through longitude and latitude output by the BDS; the obtained vehicle position information is subjected to prediction processing, and the prediction time is recorded as t s Obtaining t s Position output and heading angle output after seconds
Because the hydraulic plant protection machine has slow response when running and hysteresis when tracking a path, the prediction module aims to reduce the hysteresis of a path tracking control algorithm.
As shown in fig. 6, the calculation of the predicted point state quantity:
3. searching a path point closest to the position of the plant protection machine at present, and approximately obtaining a projection point of the predicted point on a reference working path.
The projection points are calculated by searching the closest point (called the closest point P) to the predicted point in the point set of the reference working path c ) The projection position of the predicted point on the reference path is the projection point P pro Is the predicted point P pre The point closest to the reference path passes through the closest point P c Approximately determining a projection point P of the predicted point on the reference path pro 。
Point set P i {P 0 (x 0 ，y 0 )，P 1 (x 1 ，y 1 ),…,P(x N ，y N ) And is the set of points on the reference path. Establishing a two-degree-of-freedom kinematic model taking a rear axle as a center, wherein the coordinates of the position of the center of the agricultural rear axle are (x, y), and the P of a predicted point pre The coordinates are (X) pre ，Y pre ) Calculating the distance from each point in the reference path to the predicted point P pre Then determining the distance of the predicted point P pre Closest point P on the closest reference path c (x c ,y c ) Finally, the projection point P of the predicted point on the reference path is calculated according to the nearest point approximation pro 。
4. Calculating predicted point P of plant protection machine pre And projection point P pro Lateral deviation Δd and heading deviation atAs shown in fig. 7:
course angle at the reference path projection pointHeading angle approximately equal to the nearest point on the reference path +.>
And (3) calculating course deviation:
calculation of lateral deviation:
in a natural coordinate system, the normal vector of the closest point
Tangent vector of closest point
5. And converting the transverse deviation and the course deviation into total errors, and deciding the expected front wheel rotation angle as an input decision of the PID controller.
The combined error is converted from course deviation and transverse deviation, and when the tracking control and curve control are performed on the straight line, the total error converted from course deviation and transverse deviation has different decision effects on the straight line and curve, so that different conversion factor combinations [ k ] are respectively taken 1 ,k 2 ]，[k 3 ,k 4 ]Obtaining the total error Err of the synthesis 1 And Err 2 (k 1 、k 2 、k 3 、k 4 The acquisition of the conversion factor is determined according to actual experience and simulation effect), and then the total error Err 1 And Err 2 The expected front wheel rotation angle when tracking the straight line and the expected front wheel rotation angle when tracking the curve are respectively decided as the inputs of the PID controller.
The steering of the plant protection machine mainly controls the flow direction of oil through controlling a reversing valve, so as to control the expansion and contraction of a steering oil cylinder, wherein the steering oil cylinder is a double-acting cylinder, and the steering of the plant protection machine is realized through connecting rod mechanisms at two ends of the oil cylinder.
The PID controller has the advantages of easy model establishment and high control precision, and is suitable for agricultural machinery path tracking control.
The input to the controller is the control deviation, referred to herein as the resultant error of the lateral deviation and the lateral deviation decision. The output part is a linear combination of the proportion (P), the integral (I) and the derivative (D), and the formula is:
k in the formula p As proportional term coefficient, K d As differential term coefficients, K i Is the integral term coefficient. e (t) is the resultant error at time t, and delta is the expected front wheel rotation angle of the decision output.
Proportion part K p The parameters are to form a proportional relation between the synthesized error input by the controller and the output, and are mainly used for adjusting the error amplitude, and when the coefficient of the proportional term is too large, the overshoot phenomenon is generated.
Differential part K d The parameter adjustment can foresee deviation change trend, reduce the overshoot of the system and increase the stability of the system, but at the moment, steady-state errors exist.
Integral part K i The parameter adjustment is used to eliminate steady state errors generated by the tracking control system.
The embodiment considers an algorithm with a predictive control module, and simultaneously enables the plant protection machine to adopt different error decisions to expect the front wheel rotation angle for straight line tracking and curve tracking. The PID controller is used for path tracking, the input quantity is only one, and the transverse deviation and the course deviation have obvious influence on the path tracking, so that the transverse deviation and the course deviation are converted into combined total errors, and the combined total errors are used as the input of the PID controller, so that the expected front wheel turning angle is decided and output. When the tracking control and curve control are performed on the straight line, the decision effect of the total error converted from the course deviation and the transverse deviation on the straight line and the curve is different, so that different conversion factor combinations [ k ] are respectively taken 1 ,k 2 ]，[k 3 ,k 4 ]Obtaining the total error err of the synthesis 1 And err 2 Then by total error err 1 And err 2 The desired front wheel rotation angle when tracking a straight line and the desired front wheel rotation angle when tracking a curve are respectively decided as inputs of the PID controller.
The prediction control module can obtain a current position through coordinate conversion according to the position acquired by the current BDS, and then obtain a prediction point through calculation.
According to the embodiment, the intelligent level and flexibility of the hydraulic plant protection machine can be improved, the probability of personal danger caused by improper operation can be reduced, meanwhile, the hysteresis of a tracking process can be reduced when the hydraulic plant protection machine performs tracking control, different total errors are obtained through the composite calculation of two different errors of a tracking straight line and a curve, and finally the expected front wheel rotation angles of the tracking straight line and the curve are respectively determined through a PID controller.
According to the embodiment, a reference working path is firstly drawn according to a topographic map and a spraying operation mode and is uploaded to an automatic navigation driving system, so that a plant protection machine runs and operates according to the reference working path. The vehicle-mounted controller controls the engine and the hydraulic lifting and driving system through the CAN bus to control the running speed, the forward and backward movements, the steering movements, the lifting movements of the plant protection machine tools and the like of the plant protection machine. In the spraying operation, the manager only needs to start the operation on the mobile phone app, namely the unmanned plant protection machine can automatically run forward and lift the spraying machine.
Example two
The embodiment provides a large-scale hydraulic plant protection machine.
The embodiment of the unmanned path tracking control method of the large hydraulic plant protection machine is executed when the plant protection machine is operated, the flow direction of oil is controlled through a control reversing valve according to the obtained expected front wheel steering angle, the expansion and contraction of a steering oil cylinder are controlled, and steering connecting rods connected to the two ends of the oil cylinder are rotated to realize the steering of the plant protection machine.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The unmanned path tracking control method for the large-scale hydraulic plant protection machine is characterized by comprising the following steps of:
acquiring a working reference path of the plant protection machine, and performing discretization treatment to obtain a working reference path point set of the plant protection machine;
predicting a predicted point of the plant protection machine after a set time based on the current position and the course angle of the plant protection machine;
searching corresponding projection points of the predicted points in the reference path point set;
calculating the transverse deviation and the course deviation between the predicted point and the projection point;
converting the transverse deviation and the course deviation between the predicted point and the projection point into a synthetic error;
based on the synthetic error, a PID controller is adopted to obtain an expected front wheel corner;
the process for predicting the predicted point of the plant protection machine after the set time based on the current position and the course angle of the plant protection machine comprises the following steps: based on the current position and course angle of the plant protection machine, the position and course angle of the plant protection machine after the set time is predicted by combining the speed of the plant protection machine;
the process of converting the lateral deviation and the course deviation between the predicted point and the projected point into the composite error comprises the following steps: introducing a conversion factor, and converting the transverse deviation and the course deviation between the predicted point and the projected point into a composite error, wherein the composite error comprises the transverse error corresponding to the transverse deviation and the course error corresponding to the course deviation;
the method comprises the steps of calculating the transverse deviation and the course deviation between the predicted point and the projection point, and specifically comprises the following steps:
and (3) calculating course deviation:
for course deviation, ++>For the current position heading angle, +.>The course angle at the projection point of the reference path;
calculation of lateral deviation:
in a natural coordinate system, the normal vector of the closest point
Tangent vector of closest point
Δd is the lateral deviation, x is the current position abscissa, x c Is the abscissa of the nearest point on the reference path, y is the ordinate of the current position, y c Is the ordinate of the nearest point on the reference path;
the synthetic error calculation formula is as follows:
wherein K is p As proportional term coefficient, K d As differential term coefficients, K i And e (t) is a synthetic error at the moment t, and delta is an expected front wheel rotation angle of decision output.
2. The method of unmanned path tracking control of a large hydraulic plant protection machine according to claim 1, comprising, after the set of plant protection machine working reference path points: and calculating the state quantity of each reference point according to the working reference path point set of the plant protection machine, wherein the state quantity of each reference point comprises the abscissa of the reference point, the ordinate of the reference point and the course angle.
3. The unmanned path tracking control method of a large hydraulic plant protection machine according to claim 1, wherein the process of searching for the projection points corresponding to the predicted points in the reference path point set comprises: calculating the distance from each reference point in the reference path point set to the predicted point based on the predicted point, and determining the nearest reference point to the predicted point as the nearest point; and obtaining a projection point of the predicted point on the reference path according to the nearest point.
4. A method of unmanned path tracking control for a large hydraulic plant protection machine according to claim 3, wherein the heading deviation is equal to the heading angle of the plant protection machine at the current location minus the heading angle at the projected point on the reference path.
5. The unmanned path tracking control method of a large hydraulic plant protection machine according to claim 4, wherein the heading angle at the projected point on the reference path is equal to the heading angle at the nearest point on the reference path.
6. The unmanned path tracking control method of a large hydraulic plant protection machine according to claim 4, wherein the lateral deviation is determined according to a normal vector of a nearest point and a positional relationship between a current position of the plant protection machine and the nearest point.
7. The unmanned path tracking control method of a large hydraulic plant protection machine according to claim 1, wherein the process of obtaining the desired front wheel corner by using a PID controller based on the synthetic error comprises: based on the composite error, a PID controller is adopted to obtain the expected front wheel corner when tracking the straight line and the expected front wheel corner when tracking the curve.
8. The unmanned path tracking control method for the large-sized hydraulic plant protection machine is characterized by comprising a vehicle-mounted controller, wherein the vehicle-mounted controller executes the unmanned path tracking control method for the large-sized hydraulic plant protection machine according to any one of claims 1-7 when the plant protection machine is in operation, the flow direction of oil is controlled through controlling a reversing valve according to the obtained expected front wheel steering angle, the expansion and contraction of a steering oil cylinder are controlled, and steering connecting rods connected to two ends of the oil cylinder are rotated to realize the steering of the plant protection machine.
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| CN105867377A (en) * | 2016-04-13 | 2016-08-17 | 浙江理工大学 | Automatic navigation control method of agricultural machine |
| CN108646747A (en) * | 2018-06-05 | 2018-10-12 | 上海交通大学 | Agri-vehicle path tracking control method |
| CN109001976A (en) * | 2018-08-15 | 2018-12-14 | 江苏大学 | A kind of two-way collaboration of automatic Pilot vehicle can open up crosswise joint method |
| CN111427260A (en) * | 2019-01-10 | 2020-07-17 | 广州汽车集团股份有限公司 | Control method, device, controller and system for vehicle path tracking and vehicle |
| CN110109451A (en) * | 2019-04-10 | 2019-08-09 | 东南大学 | A kind of novel geometry path tracking algorithm considering path curvatures |
| CN110597257A (en) * | 2019-09-12 | 2019-12-20 | 中汽研（天津）汽车工程研究院有限公司 | Routine driving speed planning strategy based on road curvature |
| CN110989625A (en) * | 2019-12-25 | 2020-04-10 | 湖南大学 | Vehicle path tracking control method |
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