WO2019192117A1 - Electric steering wheel based control method for automatic driving of agricultural machinery - Google Patents

Electric steering wheel based control method for automatic driving of agricultural machinery Download PDF

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Publication number
WO2019192117A1
WO2019192117A1 PCT/CN2018/099873 CN2018099873W WO2019192117A1 WO 2019192117 A1 WO2019192117 A1 WO 2019192117A1 CN 2018099873 W CN2018099873 W CN 2018099873W WO 2019192117 A1 WO2019192117 A1 WO 2019192117A1
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steering
control
steering wheel
agricultural machinery
automatic driving
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PCT/CN2018/099873
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French (fr)
Chinese (zh)
Inventor
张晓飞
沈雪峰
李早玲
车相慧
徐恩强
王诚刚
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上海华测导航技术股份有限公司
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Publication of WO2019192117A1 publication Critical patent/WO2019192117A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • B60W2050/0009—Proportional differential [PD] controller
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/20—Off-Road Vehicles
    • B60Y2200/22—Agricultural vehicles

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

Provided in the present invention is an electric steering wheel based control method for automatic driving of agricultural machinery, comprising the following steps: step (1): outputting a steering angle instruction by a navigation controller; step (2): a first steering controller performing PD control by steering angle feedback of a front wheel, and outputting a control instruction to a second steering controller; and step (3): the second steering controller performing PD control by rotational speed feedback of a steering wheel, and outputting a control instruction to the electric steering wheel. The inner ring of the present invention uses PD control based on steering wheel rotational speed feedback, the outer ring uses PD control based on vehicle wheel rotational angle feedback, and while improving the response speed of the steering control system, also has relatively high precision and robustness.

Description

一种基于电动方向盘的农业机械自动驾驶控制方法Agricultural machinery automatic driving control method based on electric steering wheel 技术领域Technical field
本发明涉及自动驾驶控制算法领域，具体涉及到一种基于电动方向盘的农业机械自动驾驶控制方法。The invention relates to the field of automatic driving control algorithms, in particular to an agricultural machinery automatic driving control method based on an electric steering wheel.
背景技术Background technique
农机自动导航产品已经成为国外农机产业中发展最为迅速的部分，但国内对自动导航技术的研究起步较晚，相关的方法研究还在不断改进优化中。Agricultural machinery automatic navigation products have become the fastest-growing part of the foreign agricultural machinery industry, but domestic research on automatic navigation technology started late, and related method research is still improving and optimizing.
目前的农机自动驾驶控制方法主要有：(1)PID算法，针对自动转向系统中液压阀的非线性特性，可带有死区、饱和等非线性补偿；(2)自适应PID算法，根据行驶速度、转向角偏差等在线调节PID参数，使用多组参数实现较多工况下的高精度控制；模糊控制算法，以转向角、转向角速度、转向角偏差、航向角偏差等的组合作为模糊控制器的输入量，对自动转向系统模型的非线性、时变等特性具有较好的适应性。The current agricultural machinery automatic driving control methods mainly include: (1) PID algorithm, for the nonlinear characteristics of the hydraulic valve in the automatic steering system, with nonlinear compensation such as dead zone and saturation; (2) adaptive PID algorithm, according to driving Online adjustment of PID parameters such as speed and steering angle deviation, using multiple sets of parameters to achieve high-precision control under more conditions; fuzzy control algorithm, using combination of steering angle, steering angular speed, steering angle deviation, heading angle deviation, etc. as fuzzy control The input of the device has good adaptability to the nonlinear and time-varying characteristics of the automatic steering system model.
对于PID算法和自适应PID算法，当农机转向系统随着轮胎-地面状况等发生较大改变时，控制精度会随着下降；模糊控制方法的鲁棒性较强，但难以同时达到较高的响应速度和控制精度。For the PID algorithm and the adaptive PID algorithm, when the agricultural machinery steering system changes greatly with the tire-ground condition, the control precision will decrease; the fuzzy control method is more robust, but it is difficult to achieve high at the same time. Response speed and control accuracy.
发明内容Summary of the invention
为了解决上述的缺陷，本发明提供了一种基于电动方向盘的农业机械自动驾驶控制方法，内环采用基于方向盘转动速度反馈的PD控制，外环采用基于车轮转动角度反馈的PD控制，在提高转向控制系统响应速度的同时，也具有较高的精度和鲁棒性。In order to solve the above drawbacks, the present invention provides an agricultural machinery automatic driving control method based on an electric steering wheel. The inner ring adopts PD control based on steering wheel rotational speed feedback, and the outer ring adopts PD control based on wheel rotation angle feedback to improve steering. While controlling the response speed of the system, it also has high precision and robustness.
本发明提供了一种基于电动方向盘的农业机械自动驾驶控制方法，包括以下步骤：The invention provides an agricultural machinery automatic driving control method based on an electric steering wheel, comprising the following steps:
步骤(1)：通过导航控制器输出转向角指令；Step (1): outputting a steering angle command through the navigation controller;
步骤(2)：第一转向控制器通过前轮转角反馈，进行PD控制，并输出控制指令到第二转向控制器；Step (2): the first steering controller performs PD control through front wheel angle feedback, and outputs a control command to the second steering controller;
步骤(3)：第二转向控制器通过方向盘转速反馈，进行PD控制，输出控制指令到电动方向盘。Step (3): The second steering controller performs PD control through the steering wheel speed feedback, and outputs a control command to the electric steering wheel.
上述的农业机械自动驾驶控制方法，其中，所述步骤(1)中：The above agricultural machinery automatic driving control method, wherein in the step (1):
所述转向角指令为前轮期望转速。The steering angle command is a desired speed of the front wheel.
上述的农业机械自动驾驶控制方法，其中，所述步骤(3)中：所述电动方向盘驱动农机转向机构，从而带动农机转向。In the above agricultural machinery automatic driving control method, in the step (3), the electric steering wheel drives the agricultural machine steering mechanism, thereby driving the agricultural machine to turn.
本发明具有以下有益效果：The invention has the following beneficial effects:
(1)本发明内环采用基于方向盘转动速度反馈的PD控制，外环采用基于车轮转动角度反馈的PD控制，在提高转向控制系统响应速度的同时，也具有较高的精度和鲁棒性。(1) The inner ring of the present invention adopts PD control based on steering wheel rotational speed feedback, and the outer ring adopts PD control based on wheel rotation angle feedback, and has higher precision and robustness while improving the response speed of the steering control system.
(2)本发明多引入了一个控制器，可以对方向盘转动速度进行优化调节，在转向角调节精度较高的同时，能够具有较快的响应速度，使得转向控制系统的整体性能更佳。(2) The present invention introduces a controller, which can optimally adjust the steering wheel rotation speed, and has a faster response speed while making the steering angle adjustment precision higher, so that the overall performance of the steering control system is better.
附图说明DRAWINGS
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明及其特征、外形和优点将会变得更明显。在全部附图中相同的标记指示相同的部分。并未刻意按照比例绘制附图，重点在于示出本发明的主旨。The invention and its features, aspects and advantages will become more apparent from the detailed description of the appended claims. The same reference numerals are used throughout the drawings to refer to the same parts. The drawings are not intended to be drawn to scale, with emphasis on the subject matter of the invention.
图1为本发明提供的农机转向系统动态响应曲线；1 is a dynamic response curve of an agricultural machinery steering system provided by the present invention;
图2为本发明提供的转向角速度单位阶跃响应曲线。2 is a steering step speed unit step response curve provided by the present invention.
图3为本发明提供的控制流程示意图。FIG. 3 is a schematic diagram of a control flow provided by the present invention.
具体实施方式detailed description
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个 或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。In the following description, numerous specific details are set forth in the However, it will be apparent to those skilled in the art that the present invention may be practiced without one or more of these details. In other instances, some of the technical features well known in the art have not been described in order to avoid confusion with the present invention.
为了彻底理解本发明，将在下列的描述中提出详细的步骤以及详细的结构，以便阐释本发明的技术方案。本发明的较佳实施例详细描述如下，然而除了这些详细描述外，本发明还可以具有其他实施方式。In order to fully understand the present invention, detailed steps and detailed structures are set forth in the following description in order to explain the invention. The preferred embodiments of the present invention are described in detail below, but the present invention may have other embodiments in addition to the detailed description.
参照图1-图3所示，本发明提供了一种基于电动方向盘的农业机械自动驾驶控制方法，包括以下步骤：Referring to Figures 1-3, the present invention provides an agricultural machinery automatic driving control method based on an electric steering wheel, comprising the following steps:
步骤(1)：首先由导航控制器输出转向角指令，其中：转向角指令为前轮期望转速；Step (1): First, a steering angle command is output by the navigation controller, wherein: the steering angle command is a desired speed of the front wheel;
步骤(2)：第一转向控制器通过前轮转角反馈，进行PD控制，并输出控制指令到第二转向控制器；Step (2): the first steering controller performs PD control through front wheel angle feedback, and outputs a control command to the second steering controller;
步骤(3)：第二转向控制器通过方向盘转速反馈，进行PD控制，输出控制指令到电动方向盘，然后电动方向盘驱动农机转向机构，从而带动农机转向。Step (3): The second steering controller performs PD control through the steering wheel speed feedback, outputs a control command to the electric steering wheel, and then the electric steering wheel drives the agricultural machine steering mechanism, thereby driving the agricultural machine to turn.
参照图3所示，在本发明中，多引入了一个控制器，可以对方向盘转动速度进行优化调节，在转向角调节精度较高的同时，能够具有较快的响应速度，使得转向控制系统的整体性能更佳。Referring to FIG. 3, in the present invention, a controller is introduced, which can optimally adjust the steering wheel rotation speed, and can have a faster response speed while the steering angle adjustment accuracy is high, so that the steering control system Overall performance is better.
参照图1、图2所示，利用Matlab进行转向角速度控制仿真，在单位阶跃转向角速度给定情况下，PD控制器的控制量变化情况和转向角速度跟踪效果。由仿真结果可知，上升时间约0.35s，超调量约10％，响应速度较快，超调量在可接受范围内。Referring to FIG. 1 and FIG. 2, the steering angular velocity control simulation is performed by Matlab, and the control amount change of the PD controller and the steering angular velocity tracking effect are given in the case of the unit step steering angular velocity. It can be seen from the simulation results that the rise time is about 0.35 s, the overshoot is about 10%, the response speed is fast, and the overshoot is within an acceptable range.
以上对本发明的较佳实施例进行了描述。需要理解的是，本发明并不局限于上述特定实施方式，其中未尽详细描述的设备和结构应该理解为用本领域中的普通方式予以实施；任何熟悉本领域的技术人员，在不脱离本发明技术方案范围情况下，都可利用上述揭示的方法和技术内容对本发明技术方案做出许多可能的变动和修饰，或修改为等同变化的等效实施例，这并不影响本发明的实质内容。因此，凡是未脱离本发明技术方案的内容，依据本发明 的技术实质对以上实施例所做的任何简单修改、等同变化及修饰，均仍属于本发明技术方案保护的范围内。The preferred embodiments of the present invention have been described above. It is to be understood that the invention is not limited to the specific embodiments described above, and that the device and structure are not described in detail. In the scope of the present invention, many possible variations and modifications may be made to the technical solutions of the present invention by using the methods and technical contents disclosed above, or modified into equivalent equivalents, which do not affect the substance of the present invention. . Therefore, any simple modifications, equivalent changes, and modifications of the above embodiments may be made without departing from the spirit and scope of the invention.

Claims (3)

  1. 一种基于电动方向盘的农业机械自动驾驶控制方法，其特征在于，包括以下步骤：An agricultural machinery automatic driving control method based on an electric steering wheel, characterized in that the method comprises the following steps:
    步骤(1)：通过导航控制器输出转向角指令；Step (1): outputting a steering angle command through the navigation controller;
    步骤(2)：第一转向控制器通过前轮转角反馈，进行PD控制，并输出控制指令到第二转向控制器；Step (2): the first steering controller performs PD control through front wheel angle feedback, and outputs a control command to the second steering controller;
    步骤(3)：第二转向控制器通过方向盘转速反馈，进行PD控制，输出控制指令到电动方向盘。Step (3): The second steering controller performs PD control through the steering wheel speed feedback, and outputs a control command to the electric steering wheel.
  2. 如权利要求1所述的一种基于电动方向盘的农业机械自动驾驶控制方法，其特征在于，所述步骤(1)中：The electric steering wheel-based agricultural machinery automatic driving control method according to claim 1, wherein in the step (1):
    所述转向角指令为前轮期望转速。The steering angle command is a desired speed of the front wheel.
  3. 如权利要求2所述的一种基于电动方向盘的农业机械自动驾驶控制方法，其特征在于，所述步骤(3)中：The method of claim 2, wherein the step (3) is:
    所述电动方向盘驱动农机转向机构，从而带动农机转向。The electric steering wheel drives the agricultural machinery steering mechanism to drive the agricultural machinery to turn.
PCT/CN2018/099873 2018-04-04 2018-08-10 Electric steering wheel based control method for automatic driving of agricultural machinery WO2019192117A1 (en)

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CN114488779A (en) * 2022-02-08 2022-05-13 中国科学院赣江创新研究院 Power chain cascade feedforward control strategy and system device of gasoline power generation system
EP4026755A1 (en) * 2021-01-06 2022-07-13 FJ Dynamics Co., Ltd. Steering control method and steering wheel steering device for automatic driving

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CN110243372B (en) * 2019-06-18 2021-03-30 北京中科原动力科技有限公司 Intelligent agricultural machinery navigation system and method based on machine vision
CN111208832A (en) * 2020-02-25 2020-05-29 深圳冰河导航科技有限公司 Implementation method for optimizing control effect of automatic pilot through speed coefficient

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
EP4026755A1 (en) * 2021-01-06 2022-07-13 FJ Dynamics Co., Ltd. Steering control method and steering wheel steering device for automatic driving
CN114488779A (en) * 2022-02-08 2022-05-13 中国科学院赣江创新研究院 Power chain cascade feedforward control strategy and system device of gasoline power generation system
CN114488779B (en) * 2022-02-08 2023-05-05 中国科学院赣江创新研究院 Power chain cascade feedforward control method and system device of gasoline power generation system

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