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ID:33387967
大小:2.88 MB
页数:92页
时间:2019-02-25
《自主式摊铺机行走系统运动建模与控制的分析》由会员上传分享,免费在线阅读,更多相关内容在行业资料-天天文库。
1、ABSTRACTInthispaper'themotionmodelingandcontroloftherunningsystemoftheautonomouspaverisresearched.Throughthoroughunderstandingworkingenvironmentoftheautonomouspaverandapplyingvehicle—terramechanicstointegratedcomputethetractionforceandresistance,thedynamicmodelofautonomou
2、spaverisbuild.Afterthat,thekinematicalmodelisbuiltinCartesiancoordinatesystemwithconsiderationoftracksliprates.Itrealizestheeffectivedescriptionofthedynamicmodelandkinematicalmodeloftheautonomouspaver’Srunningsystem.Analysisingandgeneralizingalotofdocuments,itdiscusstheco
3、ntrolmodelofthepump,motoranditsrelateproportionvalveofthetravelhydraulicpresssystem,itestablishthetransferfunctionsoftiltedtrayobliquitypositionloop,piston-tiltedtrayobliquityadjustequipment,pump—motorassembledsystem,motor-angularvelocityofinsideandoutsidedrivingwheelsand
4、equivalenttreatment.Itconstructsthemathematicalmodelofthewholehydraulicdrivesystem.Basedonworkingruleoftheautonomouspaver,amotioncontrolsystemofthevehicleispresented.Thesystemisconsistedofmodulessuchasmovementplanning,trajectorytrackingerrorcomputationandtrackingcontrolet
5、c.Functionsofthemodulesaredesignedseparately.UsualsamplingapproachoftrajectoryPlanningisequalintervalsampling.Inordertoimprovecontrolprecision,asampleapproachbasedonfuzzyruleispresented.Thisapproachhasthefunctionofon-linetuningdistancebetweenvehicle’Srealplaceandtarget,ac
6、cordingtothedistanceandangleerrors.Afteranalysisoftrackedvehicle’Strackingerrors,anexpert—fuzzybasedcrosscouplingcontrollerisdesigned.Theinternalerrorisdealwithcross·couplingcontroller;anexpert—fuzzycontrollereliminatestheexternalerror.Simulationresultsareprovidedtoverify
7、theproposedscheme.Finally,itusesMATLAB/SIMULINKsoftwaretosetupthesimulationmodelofthemotioncontrolsystemofautonomouspaverandcompletetheanalysisofdynamiccharactersimulation.Itverifiesthatthemotioncontrolsystemmodelofpaverisfeasible.ⅡKeyWords:AutonomousPaver;RunningSystem;M
8、otionModeling;MotionControl;SimulationⅡI目录摘要⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯.IABSTRACT.
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