摘要
为解决丘陵山区复杂地形下履带运输车控制系统的响应延迟、协同失准及能耗优化等问题,提出了一种基于多维度优化的履带运输车控制系统改进方案。在算法设计方面,首先提出了双电机交叉耦合协同控制策略,通过引入模糊控制器动态调整耦合系数,结合转子磁场定向控制与空间矢量脉冲宽度调制技术。交叉耦合控制通过实时监测速度误差,利用模糊推理机制动态调整耦合系数,以优化系统的同步性能与抗干扰能力。其次构建了重心调节机构的多模态自适应模型,利用MPU6050传感器实时监测车辆姿态,结合改进遗传算法优化比例-积分-微分控制参数。结果表明:优化后系统响应时间从1.8 s降至0.6 s,降幅66.7%。协同定位精度提升了66.5%。复杂场景下轨迹跟踪成功率从72%提升至94%,能耗降低了18.6%。所提方法解决了传统系统的响应滞后与协同失准问题。
In order to solve the problems of response delay,coordination misalignment and energy consumption optimization of the control system of crawler transporter under complex terrais like hilly and mountainous areas,an improved control system scheme was proposed based on multi-dimensional optimization.In terms of algorithm design,a cross-coupling cooperative control strategy of double motors was first proposed,by introducing a fuzzy controller to dynamically adjust the coupling coefficient,combined with rotor magnetic field orientation control and space vector pulse width modulation technology.The cross-coupling control monitors the velocity error in real time and adjusts the coupling coefficient dynamically by using the fuzzy reasoning mechanism to optimize the synchronization performance and anti-interference ability of the system.Secondly,a multi-modal adaptive model of the center of gravity adjustment mechanism was constructed.The MPU6050 sensor was used to monitor the vehicle attitude in real time,and the proportional integral-differential control parameters were optimized with the improved genetic algorithm.The results showed that the response time of the optimized system decreases from 1.8 s to 0.6 s,a decrease of 66.7%.Collaborative positioning accuracy is improved by 66.5%.The trajectory tracking success rate in complex scenarios has increased from 72%to 94%,and energy consumption is reduced by 18.6%.The proposed method solves the problem of response lag and coordination misalignment of the traditional system.
作者
孙念昌
胡刚
张兆山
SUN Nianchang;HU Gang;ZHANG Zhaoshan(Yankuang Energy Group Company Limited,Jining 272000 China)
出处
《国外电子测量技术》
2025年第3期118-124,共7页
Foreign Electronic Measurement Technology
基金
企业科研兖矿能源2023年科技计划“全遥控智能化履带运输车研究应用”(YK2023B26)。
关键词
履带式
动态权重分配
分布式通信协议
车辆轨迹跟踪
crawler type
dynamic weight allocation
distributed communication protocol
vehicle trajectory tracking
