CAJ | 학술논문

以某6×6无人轮式车为对象研究跟踪控制策略，使其能够自主跟踪引导车的运动轨迹，并与引导车保持一定的安全距离。首先研究了采用参数样条曲线建立柔性虚拟曲杆模型的方法，并提出了虚拟曲杆的弹性力控制策略；然后又引入一种轨迹跟踪控制律，实现了对6×6无人轮式车跟踪运动的双闭环控制。最后通过 Matlab 仿真和实车试验对该控制策略进行了验证，结果表明：该控制策略能够保证车辆稳定行驶，并有效地提高了跟踪精度。
이모6×6무인륜식차위대상연구근종공제책략，사기능구자주근종인도차적운동궤적，병여인도차보지일정적안전거리。수선연구료채용삼수양조곡선건립유성허의곡간모형적방법，병제출료허의곡간적탄성력공제책략；연후우인입일충궤적근종공제률，실현료대6×6무인륜식차근종운동적쌍폐배공제。최후통과 Matlab 방진화실차시험대해공제책략진행료험증，결과표명：해공제책략능구보증차량은정행사，병유효지제고료근종정도。
The paper investigates the tracking control strategy for 6 ×6 unmanned wheeled vehicle to make it track the trajectory of the leader vehicle precisely under the condition of keeping a safe distance.First-ly,the method of establishing a flexible virtual curved bar model with parameter spline curve is studied and a control strategy based on virtual curved bar elastic force is proposed.Then a trajectory tracking control law is introduced to realize the double closed loop control of 6 ×6 unmanned wheeled vehicle’s tracking motion.Finally the control strategy is verified by Matlab simulation and real vehicle test.The re-sults show that the vehicle tracking control strategy can guarantee the stability of the vehicle motion and can effectively improve the tracking precision.