| 罗则*,米梓瑞*,刘福才*,高英杰**.液压驱动型光伏清扫机器人MPC路径跟踪控制[J].高技术通讯(中文),2026,36(6):623~631 |
| 液压驱动型光伏清扫机器人MPC路径跟踪控制 |
| MPC path tracking control of hydraulic driven photovoltaic cleaning robot |
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| DOI：10. 3772 / j. issn. 1002 - 0470. 2026. 06. 008 |
| 中文关键词: 光伏清扫机器人； 液压马达； 路径跟踪； 模型预测控制； 多目标约束 |
| 英文关键词: photovoltaic cleaning robot, hydraulic motor, path tracking, model predictive control, multi objective constraint |
| 基金项目: |
| 作者 | 单位 | | 罗则* | （*燕山大学河北省工业计算机控制工程重点实验室秦皇岛 066004）
（**燕山大学河北省重型机械流体动力传输与控制实验室秦皇岛 066004） | | 米梓瑞* | | | 刘福才* | | | 高英杰** | |
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| 中文摘要: |
| 针对液压驱动型光伏清扫机器人在路径跟踪过程中存在转弯路径跟踪不稳定、横向误差较大的问题，在传统模型预测控制的基础上，提出一种多约束的模型预测路径跟踪控制策略。首先，建立机器人运动学模型、动力学模型与阀控液压马达数学模型。其次，设计基于机器人线性跟踪误差模型的路径跟踪模型预测控制器，采用质心-后轴中心双坐标跟踪法，得到机器人后轮转角约束条件，采用抗饱和的二自由度比例积分微分（proportional integral derivative, PID）算法控制机器人后轮转角。最后，通过CarSim与Matlab /Simulink 进行联合仿真，结果表明，与纯追踪算法和线性二次调节器算法相比，改进型模型预测控制算法能有效减小转弯路径的横向误差，具有较好的稳定性，提高了光伏清扫机器人清扫作业的安全性。 |
| 英文摘要: |
| To address the issues of unstable turning path tracking and excessive lateral errors in hydraulically driven photovoltaic (PV) cleaning robots during path-following tasks, this study proposes a multi-constrained model predictive control (MPC) strategy based on traditional MPC. First, the kinematic model, dynamic model, and mathematical model of the valve-controlled hydraulic motor for the robot are established. Next, a path-tracking model predictive controller is designed based on the robot’s linear tracking error model. A dual-coordinate tracking method (centroid-rear axle center) is adopted to derive the steering angle constraint for the robot’s rear wheels, while an anti-windup two-degree-of-freedom (2-DOF) proportional integral derivative (PID) algorithm is employed to control the rear-wheel steering angle. Finally, co-simulation is conducted using CarSim and Matlab/Simulink. The results demonstrate that, compared to the pure pursuit algorithm and the linear quadratic regulator (LQR) algorithm, the improved MPC algorithm effectively reduces lateral errors during turning, exhibits better stability, and enhances the operational safety of PV cleaning robots. |
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