Adaptive tracking control method of paths of comprehensive automatic guided vehicle

Abstract

The invention discloses an adaptive tracking control method of paths of a comprehensive automatic guided vehicle. The adaptive tracking control method is adopted aiming at the running paths of different shapes, wherein the smoothness of movement of a vehicle body is improved by a free state tracking control method, and the position and the attitude of the vehicle body are accurately adjusted by adopting a comprehensive tracking control method.

Description

technical field [0001] The invention relates to a path adaptive tracking control method of an omnidirectional automatic guided vehicle, which belongs to the field of automatic transportation equipment. Background technique [0002] The driving / steering device is the motion actuator of the wheeled electric vehicle. According to the degree of freedom of plane motion, the automatic guided vehicle (AGV for short) has a non-complete movement mode with limited lateral motion and a full range of movement that can realize all plane motions. Way. The all-round mobile automatic guided vehicle can not only move forward and backward along the longitudinal direction of the car body, rotate around the center of the car body, but also move left and right along the lateral direction of the car body, and can move along the It can move in any direction in the plane, and has good maneuverability for limited working space. [0003] Omni-directional wheels, represented by Mecanum wheels and sp...

AI Technical Summary

Problems solved by technology

This device can ensure the synchronization of the two-wheel steering control, but it has the following disadvantages: (1) it is difficult to accurately control the motion state of the driving wheel through the friction drive of the clutch type; (2) the device uses the casing of the motor and the reducer as the main Load-bearing structure, limited strength and stiffness are not suitable for heavy load conditions; (3) It is difficult to achieve precise locking between the upper turntable and the lower turntable at any angle by using the connection method of positioning pins and positioning pits; (4) The angle sensor needs The center position switch is used for centering calibration; (5) The structure of the drive wheel electromagnetic clutch in the device is relatively complicated

[0005] Since the Mecanum wheel and the spherical wheel can realize all plane movements, the omnidirectional mobile automatic guided vehicle using this wheel is not subject to non-holonomic constraints, and its motion control method is relatively simple. However, the mechanical structure of the omnidirectional wheel is complex and the manufacturing cost is high. , and it is difficult to be adaptive to the shape change of the running path

The automatic guided vehicle using conventional wheels cannot directly eliminate the lateral position deviation due to non-holonomic constraints. In the motion control, the longitudinal displacement of the car body needs to be used to indirectly eliminate the lateral position deviation. The motion control method is relatively complicated and requires a large amount of motion. space

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