1results about How to "Solve the non-adjustable" patented technology

The application discloses a kind of AGV trolley trajectory deviation calculation method for differential chassis, it belongs to the field of electromechanical control technology.The present application solves the problem of existing method, such as trajectory is not adjustable, poor motion stability.The method of the present application first constructs the kinematic model and control model of AGV trolley of differential chassis, and establishes trajectory deviation calculation model based on kinematic model, control model and cascade PID control.According to trajectory deviation calculation model, the deviation between the predetermined trajectory and the actual trajectory during the process of AGV trolley of differential chassis passing through the bend can be calculated, and the trajectory deviation value of each trajectory is obtained, and then the best trajectory is selected, which helps to improve the motion control accuracy and stability of AGV trolley.The method of the present application can be applied to the trajectory selection of AGV trolley of differential chassis.