SD-type AGV backing-up attitude angle control device and method based on double-closed-loop PID control

A technology of control device and control method, which is applied in the direction of attitude control, non-electric variable control, control/regulation system, etc., can solve the problems of lack of reversing function and poor flexibility, and achieve the effect of strong guiding significance and promotion value

Pending Publication Date: 2017-06-30
KEDA INDUSTRIAL GROUP CO LTD
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  • Description
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AI Technical Summary

Problems solved by technology

At present, the existing SD-type AGV can only walk in one direction and lacks the function of reversing, and the flexibility is relatively poor. The

Method used

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  • SD-type AGV backing-up attitude angle control device and method based on double-closed-loop PID control
  • SD-type AGV backing-up attitude angle control device and method based on double-closed-loop PID control
  • SD-type AGV backing-up attitude angle control device and method based on double-closed-loop PID control

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Embodiment Construction

[0033] see Figure 1-Figure 4 . figure 1 It is a connection schematic diagram of the SD type AGV reversing attitude angle control device based on double closed-loop PID control of the present invention. figure 2 It is a schematic diagram of the installation position of the magnetic navigation sensor. image 3 It is the motion mathematical model diagram of SD type AGV. Figure 4 It is a system control block diagram of the SD type AGV reversing attitude angle control method based on double closed-loop PID control of the present invention. The SD type AGV reversing attitude angle control device based on double closed-loop PID control of the present invention includes

[0034] --Controller 3, the controller 3 is set on the body of the AGV;

[0035] --The first magnetic navigation sensor 1, the first magnetic navigation sensor 1 is set on the front of the AGV, and the first magnetic navigation sensor 1 is connected to the GPIO port of the controller 3;

[0036] --The second m...

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Abstract

The invention discloses an SD-type AGV (Automated Guided Vehicle) backing-up attitude angle control device based on double-closed-loop PID control. The device comprises: a controller, which is arranged on an AGV body; a first magnetic navigation sensor, which is arranged on an AGV head and is connected to a GPIO port of the controller; a second magnetic navigation sensor, which is arranged on an AGV rear portion and is connected to the GPIO port of the controller; a motion controller, which is in communication with the controller through a CAN; and a servo closed-loop control system, which is in communication with the controller through an RS485. An attitude angle measuring value of backing-up of the AGV body is obtained through a two-stage PID control operation, thereby solving the technical problem that a conventional SD-type AGV can only run in a single direction and does not have a backing-up function.

Description

technical field [0001] The invention relates to the field of AGVs, in particular to an SD-type AGV reversing attitude angle control device and method based on double closed-loop PID control. Background technique [0002] AGV is the abbreviation of Automated Guided Vehicle, which means "automatically guided transport vehicle", which means that it is equipped with automatic guidance devices such as electromagnetic or optical, which can drive along the prescribed guiding path, and has safety protection and various transfer functions. The transport vehicle, AGV belongs to the category of wheeled mobile robot (Wheeled Mobile Robot). [0003] AGV is equipped with automatic guidance devices such as electromagnetic, optical gyroscope, laser navigator or GPRS, and can realize the task of logistics transportation along the planned path. With the improvement of factory automation level and the sharp increase of human resource costs, AGV has developed rapidly in China and has been wide...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 张圣庄碧峰陈哲川朱创勤
Owner KEDA INDUSTRIAL GROUP CO LTD
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