混动履带式无人平台轨迹跟踪控制研究

To improve the trajectory tracking performance of tracked unmanned platform,a hierarchical trajectory tracking algorithm considering longitudinal speed planning is proposed and verified by co-simulation experiment and real vehicle experiment. Based on the establishment of the vehicle differential equation including the slip ratio of the track and the sideslip angle of the center of mass,the hierarchical trajectory tracking algorithm framework is constructed. Speed planning algorithm of the upper level based on the pseudo spectrum method plans the longitudinal speed according to the road information,and sends the planned speed as the target speed to the lower layer trajectory tracking algorithm based on linear time-varying model predictive control (LTV-MPC). By establishment of the prediction model and constraints,the algorithm based on LTV-MPC solves the target speed of motors on both sides through quadratic programming. Through the real vehicle experiment and the co-simulation of MAT-LAB/Simulink with RecurDyn, it is verified that the proposed algorithm has good trajectory tracking effect under different ground conditions.