Linear path guiding method for single steering wheel rear-driven mobile platform

Abstract

The invention is applicable to the technical field of automatic control, and provides a linear path guiding method for a single steering wheel rear-driven mobile platform. The method comprises the following steps. S1, the current position deviation of a forklift is detected in real time, and the position deviation comprises the lateral distance d deviating from an expected track and the angle gamma of the current deviation of the forklift body from the expected track. S2, the linear speed of the steering wheel is kept unchanged, the current position deviation is input into a calculation modelof the deflection angle of the steering wheel, and the deflection angle of the steering wheel at the next moment is output. The calculation model of the deflection angle of the steering wheel is constructed through the relevant parameters of the forklift, and the deflection angle of the steering wheel is adjusted to run towards the direction of the expected track through the calculation model of the deflection angle of the steering wheel, so that the dependence on empirical parameters is reduced, the guiding precision of the mobile platform is improved, the adjusting distance is shortened, andthe overshoot is reduced. Based on the determined calculation model of the deflection angle of the steering wheel, the debugging of the empirical parameter h is facilitated.

Description

technical field [0001] The invention belongs to the technical field of automatic control and provides a linear path guiding method for a single steering wheel rear-drive mobile platform. Background technique [0002] Smart forklifts and AGV (Automated Guided Vehicle) are important transportation tools for industrial 4.0 smart factories. They are mainly used to realize the storage and transfer of raw materials, semi-finished products and finished parts, and provide an important guarantee for the flexibility and intelligence of the production system. It also provides technical support for the system to maintain efficient and stable operation. In recent years, trackless navigation is gradually replacing traditional tracked navigation (such as magnetic guide rail) with its advantages of high path flexibility, good controllability, and simple site layout. Its implementation methods include laser radar navigation, infrared top mark sensor navigation Wait. [0003] When the main ...

AI Technical Summary

Problems solved by technology

[0003] When the main steering wheel is driven in the front (that is, pulling the car body to walk), its motion control is relatively simple, and the correction of the pose is relatively rapid; but when the main steering wheel is driven in the rear (that is, pushing the car body to walk), its motion control is relatively simple. Complicated, when the pose deviates, the correction response speed is slow and prone to overshoot and oscillation

In some cases (such as when the forklift is forklifting, the gear must be in the front), the car body can only be driven by the rear of the main steering wheel, so the pose deviation correction model of the single steering wheel rear-drive forklift is studied. Most of them integrate the PID idea into the conventional fuzzy control. Although it can improve the walking accuracy and stability of the mobile platform, the control effect depends largely on the formulation of fuzzy control rules and membership functions. It largely depends on experience, it is troublesome to determine the relevant parameter values, and there is a lack of corresponding theoretical basis

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