四轮转向拖拉机转向与速度系统的辨识用于最优控制
Identification of the Steering and Speed Systems of a Four-Wheel-Steering Tractor for Optimal Control
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中文总结 AI 辅助
本文采用数据驱动方法辨识四轮转向农用拖拉机的转向与速度系统，结合运动学模型、一阶执行器模型及估计的时间常数和延迟，为路径跟踪控制提供精确模型。
中文摘要 AI 辅助
基于模型的控制设计需要足够精确的被控系统模型。本文针对四轮转向农用拖拉机，为实现路径跟踪控制，对其转向和速度控制系统进行系统辨识。为此，我们研究了拖拉机的转向和速度控制系统。这些系统包含数字、机电和液压组件，结构复杂，难以基于第一性原理建模。我们采用数据驱动的方法来估计系统模型。所得模型结合了车辆运动学模型、作为一阶系统建模的执行器，以及时间常数和传输延迟的估计值。
英文摘要
Model-based control design requires sufficiently accurate model of the system-to-be-controlled. This paper addresses the system identification of steering and speed control of a four-wheel-steering agricultural tractor for the purpose of developing path tracking control. To this end, we investigate the steering and speed control systems of the tractor. These are complex systems with digital, mechatronic, and hydraulic components challenging to model based on first principles. We take a data-driven approach to estimating the system models. The resulting model combines the kinematic model of the vehicle, actuators modelled as first-order systems, and estimated values for time constants and transport delays.
发表机构
- Technical University of Munich（慕尼黑工业大学）
机构由 AI 辅助整理，请以论文原文为准。
