电子测量与仪器学报

李建良,杨宁,南忠良,陶知非.震源车车队跟随控制方法的研究[J].电子测量与仪器学报,2021,35(3):218-224

震源车车队跟随控制方法的研究

Study on the following control method of the source vehicle fleet

DOI：

英文关键词:automatic following horizontal and vertical control workshop communication simulatio

基金项目:

作者	单位
李建良	1.天津科技大学电子信息与自动化学院天津300222；
杨宁	1.天津科技大学电子信息与自动化学院天津300222；
南忠良	1.天津科技大学电子信息与自动化学院天津300222；
陶知非	2.中国石油集团东方地球物理勘探有限责任公司涿州072750

Author	Institution
Li Jianliang	1.College of Electronic Information and Automation, Tianjin University of Science and Technology, Tianjin 300222，China;
Yang Ning	1.College of Electronic Information and Automation, Tianjin University of Science and Technology, Tianjin 300222，China;
Nan Zhongliang	1.College of Electronic Information and Automation, Tianjin University of Science and Technology, Tianjin 300222，China;
Tao Zhifei	2.Bureau of Geophysical Prospecting INC． China National Petroleum Corporation，Zhuozhou 072750，China

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中文摘要:

为实现在野外施工过程中多辆震源车以车队形式跟随行驶，采用领航驾驶模型，采取实时记录领航车行驶的自身状态信息，即时发送给后续车辆进行自动跟随行驶的方法。自动跟随车辆根据获取的速度和航向角等信息进行控制，首先提出了融合PID控制和模型预测控制（MPC）的控制算法，并设计控制器，确定了控制算法的执行规则，以保证车辆间的安全距离。通过Carsim/MATLAB仿真验证，将提出的控制方法与线性二次型控制（LQR）进行对比实验，结果表明控制方法能够在纵向控制上满足加速、匀速、降速等工况的跟随行驶，在横向控制上能够进行180°和90°等弯道跟随行驶，且与领航车保持良好的安全距离。

英文摘要:

In order to realize that multiple seismic source vehicles follow in the form of a fleet during the field construction, this paper adopts a pilot driving model to record the state information of the pilot vehicle in real time and send it to subsequent vehicles for automatic follow up driving. The auto following vehicle is controlled according to the acquired speed and heading angle. This paper firstly proposes a control algorithm that combines PID control and model predictive control (MPC), and designs a controller to determine the execution rules of the control algorithm to ensure that the vehicle Safe distance. Through Carsim/Matlab simulation verification, the control method proposed in this paper is compared with linear quadratic control (LQR). The results show that the control method proposed in this paper can meet the following driving conditions in acceleration, uniform speed, and deceleration in the longitudinal control, and can follow the corners such as 180 degrees and 90 degrees in the lateral control, and maintains good performance with the pilot vehicle. safe distance.

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