液压驱动型光伏清扫机器人MPC路径跟踪控制OA

To address the issues of unstable turning path tracking and excessive lateral errors in hydraulically driven pho-tovoltaic(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(cen-troid-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.