【作者】 高博；

【导师】 王欣；

【作者基本信息】 长安大学 ， 机械工程（专业学位）， 2021， 硕士

【摘要】 无人驾驶技术的发展给工程机械自动化领域带来了新的研究方向。双钢轮振动压路机作为重要的道路压实设备,具有施工环境恶劣、循环式作业、操作任务繁重及工作强度较高等特点,这些特点增加了操作人员的劳动强度、影响操作人员的身体健康甚至导致施工作业质量的下降,因此,研究压路机的无人驾驶及自动作业技术具有重要的实际意义。Udwadia-Kalaba(U-K)理论因擅长处理有约束机械系统的建模和控制问题而逐渐受到人们的关注,本文应用基于U-K理论的自适应鲁棒控制方法,对无人驾驶双钢轮振动压路机的轨迹跟踪问题进行了研究。首先,从双钢轮振动压路机的结构入手,分析了其运动过程中的受力,及前后部分质心和前后钢轮与地面接触中心点的位置关系和速度关系,在对约束条件进行分析后,采用拉格朗日方程建立了U-K形式的双钢轮压路机的四自由度动力学模型;其次,根据压路机的碾压作业工艺和施工要求建立了包括直线及换道曲线两部分的压路机作业路线模型,采用贝塞尔曲线设计了换道轨迹,并以曲率和曲率的变化率为约束,优化了换道轨迹曲线;最后,分析了压路机在作业过程中存在的参数不确定性,采用基于U-K理论的自适应鲁棒控制方法,设计了直线轨迹跟踪控制器和换道轨迹跟踪器,并通过对典型工况的仿真验证了本文所设计控制器的有效性。更多还原

【Abstract】 The development of unmanned driving technology has brought new research directions to the field of construction machinery automation.As an important road compaction equipment,the double-drum vibratory roller has the characteristics of harsh construction environment,cyclic operation,heavy operation tasks and high work intensity.These characteristics increase the labor intensity of the operators,affect the health of the operators,and even the quality of construction work has declined,so it is of great practical significance to study the unmanned and automatic operation technology of road rollers.Udwadia-Kalaba(U-K)theory has gradually attracted people’s attention because it is good at handling the modeling and control problems of constrained mechanical systems.Based on the U-K theory,this paper applies an adaptive robust control method to analyze the trajectory of an unmanned double-drum vibratory roller.The tracking issue is studied.First of all,starting from the structure of the double-drum vibratory roller,the force during its movement is analyzed,and the positional relationship and velocity relationship between the center of mass of the front and rear parts and the contact center point of the front and rear drum with the ground are analyzed.After analyzing the constraint conditions,Lagrange’s equations are used to establish a four-degree-of-freedom dynamic model of the U-K form of double-drum vibratory roller.Secondly,according to the roller compaction operation technology and construction requirements,the roller operating route model including the straight line and the lane changing curve is established,and the lane changing trajectory is designed by using the Bezier curve,and the curvature and the change rate of the curvature are constrained.The lane-changing trajectory curve is optimized.Finally,the parameter uncertainty of the roller during the operation process is analyzed,and the adaptive robust control algorithm based on the U-K theory is used to design a linear trajectory tracking controller and a lane-changing trajectory tracker.Through the simulation of typical operating conditions,the effectiveness of the controller designed in this paper is verified.更多还原