The invention discloses a road surface adaptive mine truck trajectory tracking prediction control method. The method comprises the following steps: firstly, establishing a mine truck dynamic model; secondly, identifying a road working condition and selecting an estimation initial value according to a sudden change working condition switching strategy, then obtaining an estimation parameter by using the estimation initial value based on recursive least square estimation, and updating a prediction model according to the parameter obtained by estimation; and finally, designing a prediction controller based on the prediction model, calculating a front wheel deflection angle which needs to be applied by the mine truck, and realizing accurate tracking of the mine truck on a given track. The road surface self-adaptive prediction control method adopting information fusion is easy to implement, high in self-adaption and suitable for the actual operation working condition of the mine truck, has certain reference significance for improving the mine truck trajectory tracking effect under the sudden change working condition, and is improved in parameter estimation accuracy and trajectory tracking precision compared with a traditional AMPC.
本发明公开了一种路面自适应矿卡轨迹跟踪预测控制方法,步骤为首先建立矿卡动力学模型;其次识别道路工况并根据突变工况切换策略选择估计初值,然后基于递推最小二乘估计,利用估计初值得出估计参数,根据估计得到的参数更新预测模型;最后基于预测模型设计预测控制器,计算出矿卡需要施加的前轮偏角,实现矿卡对给定轨迹的精确跟踪。本发明采用信息融合的路面自适应预测控制方法,易于实现,自适应强,适用于矿卡实际运行工况,对于改善突变工况下矿卡轨迹跟踪效果具有一定的借鉴意义,相对于传统AMPC在参数估计准确性和轨迹跟踪精度上有所提高。
Road surface adaptive mine truck trajectory tracking prediction control method
一种路面自适应矿卡轨迹跟踪预测控制方法
2022-05-10
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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