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Tracked vehicle platform path tracking control method and system

A path tracking and control method technology, applied in general control systems, control/regulation systems, adaptive control, etc., can solve the problems of poor stability, dependence on experience, large tracking errors of tracked vehicle platforms, etc., to achieve accurate control, reduce The effect of high dependence and improving generalization ability

Active Publication Date: 2022-04-29
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this existing method currently relies too much on experience in application design, and needs to design weight parameter values ​​based on planned trajectory characteristics, driving conditions, and deployed platforms, which requires a large amount of experimental data support in the early stage
Once the weight parameters are not set well, it will lead to large tracking errors and poor stability of the tracked vehicle platform

Method used

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  • Tracked vehicle platform path tracking control method and system
  • Tracked vehicle platform path tracking control method and system
  • Tracked vehicle platform path tracking control method and system

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Embodiment Construction

[0053] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0054] The object of the present invention is to provide a tracked vehicle platform path tracking control method and system, which can realize flexible and accurate control of the tracked vehicle platform.

[0055] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0056...

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Abstract

The invention relates to a tracked vehicle platform path tracking control method and system. The method comprises the steps that a kinematic model of a tracked vehicle platform is established, and the state quantity and the control quantity of the tracked vehicle platform are determined according to the kinematic model; establishing a first optimization objective function of a tracked vehicle platform path tracking control problem according to the kinematic model of the tracked vehicle platform; updating a state quantity and a control quantity according to the first optimization objective function, and establishing a second optimization objective function of the tracked vehicle platform path tracking control problem according to the updated state quantity and control quantity; updating the first optimization objective function according to the updated weight parameter until the state quantity and the control quantity updated again converge or reach the number of iterations; and if the re-updated state quantity and control quantity converge or reach the number of iterations, the tracked vehicle platform is controlled according to the iterated control quantity. According to the invention, the tracked vehicle platform can be flexibly and accurately controlled.

Description

technical field [0001] The invention relates to the field of path tracking control, in particular to a tracked vehicle platform path tracking control method and system. Background technique [0002] Tracked vehicles have always been an important part of ground mobility platforms due to their good passing performance, high safety, and strong firepower. Area reconnaissance, strikes, and more. And in the modern military field, the continuous improvement of informatization, unmanned level and military application demand level has put forward higher requirements for the intelligent control technology of tracked vehicle platform, especially considering the path tracking control of multi-regional marching technology. There are two key points of this technology: one is to solve the high-precision requirements, and the other is to improve the general performance of the method. However, the current domestic and foreign researches on the path-following control technology focus on th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02T10/40
Inventor 刘海鸥唐泽月陈慧岩刘庆霄陶俊峰臧政
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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