A control method for improving the deviation correction ability of differential wheel steering system on forklift AGV
A technology of a steering system and a control method, which is applied in the control field of improving the deviation correction ability of a differential wheel steering system, can solve problems such as the inability to eliminate non-systematic errors, and achieve the goals of improving stability and accuracy, increasing working time limit, and wide applicability Effect
Active Publication Date: 2022-02-11
ZHEJIANG UNIV +1
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[0007] The present invention is in order to overcome the problem that prior art can't eliminate the influence of non-systematic error on Forklift AGV, provides a kind of control method about the improvement differential wheel steering system correction ability of Forklift AGV, to solve non-systematic error to Forklift AGV (no Human forklift), reduce the workload of the PID controller, increase the working time limit of the sensor, improve the correction ability of Forklift AGV (unmanned forklift), enhance its stability and flexibility, and improve its operating quality in complex environments
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[0033] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0034] Such as Figure 1-5 In the example shown, the
[0035] In order to better deal with non-systematic errors, the present invention divides non-systematic errors into load errors, torque errors, friction factor errors, and other error factors. In order to better reflect the influence of error factors, the present invention proposes the relationship between the effective distance traveled and the relevant non-error factors when the left front and right front hubs rotate through a specific angle.
[0036] Algorithm function formula: S 1 = f 1 (T 1 ,G 1 ,μ 1 ,ξ 1 ), S 2 = f 2 (T 2 ,G 2 ,μ 2 ,ξ 2 ). where S 1 with S2 Respectively represent the effective distance traveled when the left front hub and the right front hub rotate through a specific angle. The influence distribution of error factors on Forklift AGV (unmanned forklift)...
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The present invention aims to overcome the problem that the prior art cannot eliminate the influence of non-systematic errors on the Forklift AGV, and provides a control method for improving the deviation correction ability of the differential wheel steering system on the Forklift AGV. The following technical solutions are mainly adopted: through gravity sensor measurement The load on the left front wheel hub and the right front wheel hub is calculated, the torque on the left front wheel hub and the right front wheel hub is calculated, and the friction coefficient is measured; the remaining error parameters are initialized, and the effective distance correlation function algorithm is initialized; the rear wheel angle correction PID controller is initialized; according to the vision Guide calculation results, set the absolute speed of the left front hub and right front hub; revise the speed of the left front hub and right front hub; when the Forklift AGV starts driving, the angle PID correction device performs path correction processing, and continuously detects, and returns the actual path value; according to the error Accumulate and revise the remaining error parameters; return the remaining error parameters ξ to the effective distance algorithm function, update the preset path correction function, and obtain the newly planned preset path.
Description
technical field [0001] The invention relates to the field of intelligent vehicle control, in particular to a control method for improving the deviation correction ability of a differential wheel steering system on a Forklift AGV. Background technique [0002] AGV (automatic guided vehicle) is the key technology to complete the system. After five years of rapid development, my country has overcome many manufacturing problems in the field of AGV. In the early stages of AGV development, this technical knowledge was applied to the transportation of debris in the workshop. At present, AGV has been widely used in all walks of life, the cost of industrial production has been reduced, and the work efficiency has been greatly improved. [0003] At this stage, the development focus of Forklift AGV (unmanned forklift) is automatic pathfinding algorithm and image recognition machine vision algorithm. In order to improve the intelligence of unmanned forklifts, in terms of automatic pat...
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IPC IPC(8): B62D11/00B62D11/02B66F9/075
CPCB62D11/003B62D11/02B66F9/07568
Inventor 童哲铭蒋耀兴童水光
Owner ZHEJIANG UNIV