Synchronous control system and method for AGV driven by double steering wheels on same side

Abstract

The invention provides a synchronous control system and method for an AGV driven by double steering wheels on the same side; and the system comprises an AGV which is provided with a controller, two drivers, and two steering wheels, the controller controls the two drivers, and the two drivers drive the two steering wheels to drive the AGV to travel; the AGV is further provided with a torque detector, and the torque detector detects the actual torque of the two steering wheel driving motors and feeds back the actual torque to the controller. And the controller performs closed-loop control according to the difference value of the actual torques of the two steering wheel driving motors, and adjusts the speed set values of the two steering wheels in real time. Because the controller calculatesthe difference value according to the actual torques of the two steering wheel driving motors fed back by the torque detector, the speed set values of the two drivers are adjusted in real time. If thefront wheel is faster than the rear wheel, the front wheel is slowed down, and the rear wheel is quickened; otherwise, when the front wheel is slower than the rear wheel, the front wheel is adjustedto be faster, and the rear wheel is adjusted to be slower.

Description

technical field [0001] The invention relates to the technical field of AGVs, in particular to a synchronous control system and method for AGVs driven by dual rudder wheels on the same side. Background technique [0002] AGV, the full name of Automated Guided Vehicle, is generally used in logistics systems or factories to automatically deliver goods to their destinations according to user instructions. The AGV is driven by dual rudder wheels on the same side. When moving forward or reverse, because the two wheels run on the same straight line, the two wheels need to achieve complete speed synchronization, otherwise there will be one wheel dragging the other. The problem of wheel driving caused the current of one of the motors to be in a high state all the time, which easily damaged the motor. Even if the two motors are given the same speed value, the actual speed of the two motors cannot be consistent due to factors such as friction and load incomplete balance. Contents of...

AI Technical Summary

Problems solved by technology

The AGV is driven by dual rudder wheels on the same side. When moving forward or reverse, because the two wheels run on the same straight line, the two wheels need to achieve complete speed synchronization, otherwise there will be one wheel dragging the other. The problem of wheel driving causes the current of one of the motors to be in a high state all the time, which is easy to damage the motor

Even if the same speed value is given to the two motors, the actual speed of the two motors cannot be consistent due to factors such as friction and unbalanced loads.

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