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Trajectory Tracking Control Method Based on AGV System

A technology of trajectory tracking and control method, applied in two-dimensional position/channel control, control/regulation system, non-electric variable control and other directions, which can solve the problem of difficulty in obtaining Lagrangian multipliers

Active Publication Date: 2020-11-20
HEFEI UNIV OF TECH
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Problems solved by technology

[0004] In order to avoid the shortcomings of the above-mentioned prior art, the present invention provides a trajectory tracking control method based on the AGV system, which solves the problem of Lagrangian multiplication that is difficult to obtain in the modeling process of the trajectory tracking control method of the AGV system in the prior art. number of technical issues

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  • Trajectory Tracking Control Method Based on AGV System
  • Trajectory Tracking Control Method Based on AGV System
  • Trajectory Tracking Control Method Based on AGV System

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Embodiment 1

[0062] like figure 1 As shown, this embodiment provides a trajectory tracking control method based on the AGV system, and the operation steps are as follows:

[0063] (1) Establish AGV wheel dynamics model;

[0064] (2) Set up structural constraints and establish an AGV system dynamics model;

[0065] (3) Based on the performance trajectory constraints of the dynamic model of the AGV system, the constraint torque is obtained;

[0066] (4) A trajectory tracking controller based on Udwadia-Kalaba theory is established, and the operation of the AGV system is controlled by the trajectory tracking controller.

[0067] Further, in step (1), the AGV wheels are set as front wheels and rear wheels. The front wheels are driven by the driving motor and the rotating motor, which can not only drive, but also turn. The rear wheels have only one role, supporting and guiding the body of the AGV. According to Lagrangian mechanics or Newtonian mechanics,

[0068] The dynamic equation of the...

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Abstract

The invention provides a trajectory tracking control method based on an AGV system, and relates to the technical field of control methods of the AGV system. The operation steps are as follows: (1) Establish the AGV wheel dynamics model; (2) Establish structural constraints and establish the AGV system dynamics model; (3) Based on the performance trajectory constraints of the AGV system's dynamics model, obtain the restraining moment; (4) Establish a trajectory tracking controller based on Udwadia-Kalaba theory, and control the operation of the AGV system through the trajectory tracking controller. By using the Udwadia-Kalaba theory in the trajectory tracking control method based on the AGV system in the modeling process, there is no need to determine the Lagrange multiplier, which is usually difficult to obtain, and it opens up a new way to model constrained mechanical systems.

Description

technical field [0001] The invention relates to the technical field of control methods of AGV systems, in particular to a trajectory tracking control method based on AGV systems. Background technique [0002] With the continuous development of social economy, the popularization of intelligent technology is also getting faster and faster, especially in the aspect of artificial intelligence in manufacturing. AGV (Automatic Guided Vehicle) is a non-complete mechanical system and a typical uncertain complex system model, which has prospects in scientific research, national defense, logistics, search and rescue, space exploration, ocean development, and PID control , adaptive control, sliding mode control, fuzzy control, neural network and other fields of wide application. AGV (Automatic Guided Vehicle) is a general problem obtained through equations, and the motion of the non-holonomic mechanical system is one of the cores. The motion of nonholonomic mechanical systems has bee...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0259G05D1/0276
Inventor 黄康张雁欣孙浩甄圣超陈盼盼李传阳刘荣耀郑运军
Owner HEFEI UNIV OF TECH
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