The invention discloses an autonomous hydraulic tracked vehicle path tracking cascade control method based on a port control Hamiltonian model, which combines a position ring, a speed ring and a flow ring to improve the robustness and stability of tracked vehicle path tracking, and belongs to the field of tracked vehicle path tracking control. The method comprises the following steps: firstly, carrying out equivalent transformation on a nonlinear kinematic model so as to solve the challenge of converting the kinematic model of the hydraulic tracked vehicle into a port control Hamiltonian model; the effectiveness of this substitution is evaluated by phase diagram analysis. Subsequently, a passive controller based on interconnection and damping distribution is formulated to achieve position control and generate a desired speed reference. Using the dynamics of the tracked vehicle, a speed controller is developed to calculate the required vehicle torque and hydraulic motor angular velocity, thereby facilitating speed tracking. Flow control is achieved through the design that a novel L2 gain robust control method based on passivity and a port control Hamiltonian model are combined. According to the method, the electro-hydraulic servo system can track the expected angular velocity under the expected torque, the adverse effect of the electro-hydraulic servo system on the tracking performance of the tracked vehicle is reduced, and the overall tracking performance and tracking precision of the controller are improved.
本发明公开了一种基于端口控制哈密顿模型的自主液压履带车路径跟踪级联控制方法,该方法结合了位置环、速度环和流量环,以提高履带车辆路径跟踪的鲁棒性和稳定性,属于履带车辆路径跟踪控制领域。所述的方法包括:首先,对非线性运动学模型进行等价变换,以解决将液压履带车辆运动学模型转换为端口控制哈密顿模型的挑战。通过相图分析评估这种替代的有效性。随后,制定了基于互连和阻尼分配的无源控制器,以实现位置控制并生成所需的速度参考。利用履带车辆的动力学,开发了速度控制器来计算所需的车辆扭矩和液压马达角速度,从而促进速度跟踪。流量控制是通过一种新颖的基于无源性的L2增益鲁棒控制方法与端口控制哈密顿模型结合设计来实现的。该方法使电液伺服系统能够在期望扭矩下跟踪期望的角速度,减轻电液伺服系统对履带车辆跟踪性能的不利影响,提高了控制器的整体跟踪性能和跟踪精度。
Hydraulic drive tracked vehicle path tracking cascade control method based on port Hamilton model
一种基于端口哈密尔顿模型的液压驱动履带车辆路径跟踪级联控制方法
2024-09-27
Patent
Electronic Resource
Chinese
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