Four-wheel drive steering control method and device

A technology of four-wheel drive and control method, applied in non-electric variable control, two-dimensional position/channel control, control/regulation system, etc., can solve problems such as poor driving effect, improve driving effect and avoid rollover , to meet the effect of flexibility

Inactive Publication Date: 2018-03-09
河南森源中锋智能制造有限公司
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Problems solved by technology

[0004] The purpose of the present invention is to provide a four-wheel drive steering control method and device, which is used to solve the technical problem of poor steering driving effect of the existing AGV trolley

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  • Four-wheel drive steering control method and device
  • Four-wheel drive steering control method and device
  • Four-wheel drive steering control method and device

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Embodiment Construction

[0025] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0026] The invention provides a control method for four-wheel drive steering, which specifically includes the following steps:

[0027] (1) According to the motion characteristics of the AGV car, the steering motion model is established.

[0028] The established steering motion model is as follows figure 1 As shown, the model interprets the movement of the AGV when turning. Among them, in X I o I Y I In the coordinate system, the rotation angles of the front outer drive wheel 1, the front inner drive wheel 2, the rear outer drive wheel 3, and the rear inner drive wheel 4 of the AGV car are θ 1 , θ 2 , θ 3 , θ 4 , corresponding to the turning radius of the driving wheel is R 1 , R 2 , R 3 , R 4 , the traveling speed is V 1 , V ...

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Abstract

The invention relates to a four-wheel drive steering control method and device. The control method comprises the following steps: acquiring turning radius of a vehicle body of an AGV and speed of onedriving wheel; calculating speeds of other driving wheels according to the turning radius of the vehicle body and speed of one driving wheel acquired, wherein a mathematical expression is described inthe specification, Vout is speed of a front outside driving wheel or a rear outside driving wheel of the AGV, Vin is speed of a front inside driving wheel or a rear inside driving wheel of the AGV, Wand L are distance between an inner driving wheel and an outer driving wheel and distance between a front driving wheel and a rear driving wheel of the AVG, respectively, and R is the turning radiusof the vehicle body; and according to the speeds of all the driving wheels, adjusting the speeds of all the driving wheels accordingly, so as to complete steering. The control method provided by the invention has the advantages that the turning radius of the vehicle body of the AGV and the speed of one driving wheel are acquired in real time, and the speeds of other driving wheels are calculated accordingly and are adjusted, so that steady steering of all the driving wheels is achieved, driving effect is improved, and a rollover phenomenon is avoided.

Description

technical field [0001] The invention relates to a four-wheel drive steering control method and device, belonging to the technical field of AGV motion control. Background technique [0002] With the continuous development of industrial automation, the logistics and warehousing system has also improved and improved. Among them, the automatic logistics vehicle (AGV), as a member of the field of mobile robots, has gradually been applied in the field of logistics and warehousing. AGV is equipped with automatic guidance devices such as electromagnetic or optical. Under the control of the host computer, it drives along the prescribed guidance path and completes a series of tasks such as automatic parking. [0003] The AGV car needs to adapt to the complex factory environment. The traditional AGV car generally adopts double differential drive or single wheel drive. The double differential drive method completely relies on the speed difference between the inner and outer wheels to a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D2201/0216
Inventor 过金超孔汉杨宏强
Owner 河南森源中锋智能制造有限公司
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