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Movable platform movement control method based on load center of gravity

A motion control, mobile platform technology, applied in non-electric variable control, two-dimensional position/channel control, control/regulation system, etc., can solve the problems of inflexible control strategy, ignoring load, loss of stability of load, etc. Achieve the effect of improving handling efficiency, convenient control and stable operation

Inactive Publication Date: 2017-02-15
NANJIANG ROBOT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional motion control strategies often do not consider load changes, so when the load size / center of gravity changes, constant acceleration and speed may cause the load to lose stability during operation
Moreover, the traditional control strategy is not flexible enough and cannot be adjusted in time according to the status quo of the load. Therefore, the present invention proposes a motion control strategy for the movable platform based on the center of gravity of the load, which is especially suitable for occasions where the load of the movable platform changes frequently. According to the strategy, flexibly adjust the start-stop acceleration of the movable platform, and improve the handling efficiency under the premise of ensuring the stable operation of the movable platform

Method used

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  • Movable platform movement control method based on load center of gravity
  • Movable platform movement control method based on load center of gravity
  • Movable platform movement control method based on load center of gravity

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0063] Taking the movable platform with 3 load cells as an example, the specific implementation is as follows:

[0064] Set the load cell 3 to zero so that its measured value is 0 when it is empty.

[0065] The movable platform carries the load 6, assuming that when the mass of the load 6 is M L , the pressure point N 1 , N 2 , N 3 The corresponding values ​​of the load cell 3 are F1, F2, F3. Depend on image 3 According to the vertical direction, the force balance can be obtained as:

[0066] m L g=F 1 +F 2 +F 3

[0067] Another N 1 , N 2 The distance between 12 , N 2 , N 3 The distance between 23 , N 1 , N 3 The distance between 13 ,

[0068] in:

[0069]

[0070]

[0071]

[0072] respectively for point N 1 , N 2 , N 3 Take the moment, according to the moment balance:

[0073]

[0074]

[0075]

[0076] According to the above formula, it can be obtained:

[0077]

[0078]

[0079] When the motion track of the movable platfor...

Embodiment 2

[0084] Taking the movable platform with 3 load cells as 4 as an example, Figure 7 It is a schematic diagram of the projection position of the center of gravity of the load 6 and the projection position of the load cell 3 on the circular tray 5 when the movable platform has 4 load cells 3 , Figure 8 It is a schematic diagram of the force balance of the load 6 carried by the movable platform with 4 load cells 3; the specific implementation is as follows:

[0085] Set the load cell 3 to zero so that its measured value is 0 when it is empty.

[0086] The movable platform carries the load 6, assuming that when the mass of the load 6 is M L , point N 1 ~N 4 The corresponding value of the load cell 3 is F1-F4. Depend on image 3 According to the vertical direction, the force balance can be obtained as:

[0087] m L g=F 1 +F 2 +F 3 +F 4

[0088] respectively for point N 1 , N 2 , N 4 Take the moment, according to the moment balance:

[0089]

[0090]

[0091] ...

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Abstract

The invention discloses a movable platform movement control method based on the load center of gravity. With a tray as a projection reference plane, the projection reference plane is divided into a plurality of sub-domains. According to the sub-domain interval where the projective point of the center of gravity is, the acceleration of a movable platform is adjusted to be the acceleration corresponding to the sub-domain. The method utilizes at least three weighing sensors to measure the load center of gravity. The sub-domains are divided according to different movement types. The method overcomes the problem that the movable platform can easily cause excess impact during starting and stopping, which causes damage to components of the movable platform and leads to clamping or bearing failure. The method can control the speed during moving process flexibly and thus is especially suitable for occasions with frequent load changes of the movable platform. The device of the method is simple in structure and easy to control. The method is good in timeliness and can improve the carrying efficiency while ensuring stable operation of the platform.

Description

technical field [0001] The invention relates to an intelligent control method, in particular to a motion control method of a movable platform based on the load center of gravity. Background technique [0002] The mobile platform is an automatic guided vehicle (AGV) that can carry loads. As the technology of the mobile platform is becoming more and more mature, its application scenarios are becoming more and more extensive. Taking the handling application of the mobile platform in the modern material warehouse as an example, the required handling The load of the platform is often large (the load is usually greater than the self-weight of the movable platform), and the load changes frequently, and the load change range is also large. When the movable platform starts and stops, in order to reduce the impact, it is necessary to adjust the start and stop acceleration to an appropriate size, that is, it must be small enough to prevent damage to the movable platform components caus...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/021
Inventor 章逸丰林阿斌
Owner NANJIANG ROBOT
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