摘要
由测量数据或轨迹推算模型,计算铲运机横向位置偏差、航向角偏差及航向角偏差变化率,三偏差通过非线性融合规则,形成融合偏差反馈信号并作为PID校正控制的输入量,设置横向位置偏差及航向角偏差双门限值来改进PID算法。该自主行驶控制方法在轨迹偏差及行驶车速大范围变化时,仍能保持优良的稳定性和快速性。
Based on the measurement data or track prediction model, the lateral position deviation, course angle deviation and the change rate of course angle deviation are calculated. By nonlinear fusion rules, the fusion deviation feedback signal is formed as the input signal of PID tuning control. The lateral position deviation and double threshold value of course angle deviation are set to improve PID algorithm. The autonomous driving control method can still maintain excellent stability and rapidity when the track deviation and driving speed change in a large range.
出处
《有色金属（矿山部分）》
2015年第5期68-75,共8页
NONFERROUS METALS(Mining Section）
基金
国家高技术研究发展计划(863计划)项目(2011AA060403)
关键词
地下铲运机
自主行驶
避障
控制算法
underground loader
autonomous driving
obstacle avoidance
control algorithm
