Mobile trolley traction control method and system

A technology for moving a car and a control method, which is applied in control/regulation systems, non-electric variable control, vehicle position/route/height control, etc. Effect

Active Publication Date: 2019-01-01
HUBEI NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0018] Difficulty: During the tracking control process of the mobile vehicle, nonlinearity in the control, strong coupling time-varying, and hysteresis problems are difficult to solve;

Method used

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  • Mobile trolley traction control method and system
  • Mobile trolley traction control method and system
  • Mobile trolley traction control method and system

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specific Embodiment 1

[0105] Specific embodiment 1: The electromagnetic precise navigation and positioning algorithm provided by the embodiment of the present invention: In the steering system of the smart car, closed-loop control is adopted, and the inductance difference and the approximate posture of the vehicle body are analyzed by collecting the inductance values ​​on both sides, and the two parts are processed in sections. Wheel differential problem. When the car body is in the middle of the track, the difference ratio of the inductance values ​​on both sides is 0, and the given speed values ​​of the two wheels are the same, the inductance values ​​on both sides are normalized, and the processing result is Middle_Err. The range of Middle_Err value is between (-50,50). When it is between -5 and 5, it means that the car body is only slightly deviated from the centerline position at this time, and the influence is not big, so only a small adjustment of the two-wheel speed steering is required. Wh...

specific Embodiment 2

[0106] Specific embodiment two: the motor classic PID control algorithm provided by the embodiment of the present invention: classic PID control is a regulator control method commonly used at present, is made up of proportional unit P, integral unit I and differential unit D, through Kp, Ki and Kd The setting of three parameters. Only Kp, Ki are used in my speed loop control program. The controller compares the collected data to a reference value and uses the difference to calculate a new input value. The purpose of this new input value is to allow the system data to quickly reach or maintain the reference value. In the three-wheeled smart car, if the open-loop control is used, it will be difficult for the car to recover after encountering a curve, and it may be shaking constantly, so I choose the speed closed-loop control. Therefore, the encoder is used as the speed measuring device in the smart car. The encoder gear sends out a pulse signal every time the unit angle is turn...

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Abstract

The invention belongs to the smart trolley information processing technical field and discloses a mobile trolley traction control method and system. The control method includes the following steps that: initialization is carried out, and current inductance values are acquired; two inductance values are normalized; normalized values are obtained, and whether the obtained values are greater than 0 or smaller than 0 is judged; direction judgment is performed; and the above steps are cycled continuously. A direction control algorithm used in the program of the present invention is fuzzy control, and a speed control algorithm in the present invention is PID control; and since the direction control of the invention adopts fuzzy control, and the robustness of the direction control is strong, andtherefore, the influence of interference and parameter variation on a control effect is greatly weakened, the direction control is especially suitable for the control of nonlinear, time-varying and pure-lag systems, and the accurate mathematical model of an object is not required.

Description

technical field [0001] The invention belongs to the technical field of intelligent vehicle information processing, and in particular relates to a tracking control method and system for a mobile trolley. Background technique [0002] At present, the existing technologies commonly used in the industry are as follows: [0003] China's development is inseparable from the progress of science and technology. There is still a large gap between the overall level of my country's science and technology and the world's advanced level, and there are still many places that do not meet the requirements of my country's economic and social development. In order to rapidly increase the productivity level of our country and narrow the gap with developed countries, we must speed up the development of science and technology. [0004] In the future development of human society, artificial intelligence will be widely used, and artificial intelligence will be used in different fields to create hu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0259
Inventor 高红亮靖泽坤詹习生夏远庚何永琪朱军吴杰
Owner HUBEI NORMAL UNIV
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