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Trajectory tracking control method for variable-centroid automatic guided vehicle

An unmanned guided vehicle and trajectory tracking technology, which is applied in non-electric variable control, vehicle position/route/height control, control/adjustment system, etc., can solve the problems of poor accuracy of unmanned guided vehicle trajectory tracking control, and achieve improvement Accuracy, the effect of reducing position error

Inactive Publication Date: 2021-10-01
YANCHENG INST OF TECH
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Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a track tracking control method for unmanned guided vehicles with variable center of mass to solve the technical problem of poor accuracy in the track tracking control of unmanned transported vehicles in the prior art

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  • Trajectory tracking control method for variable-centroid automatic guided vehicle
  • Trajectory tracking control method for variable-centroid automatic guided vehicle
  • Trajectory tracking control method for variable-centroid automatic guided vehicle

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Embodiment Construction

[0071] The present invention will be further described below with reference to the accompanying drawings. The following examples are for more clearly explaining the technical solutions of the present invention without limiting the scope of the invention.

[0072] like figure 1 As shown, the dynamic modeling of the unmanned handling vehicle is mainly determined by the lateral movement and yawthrough, so the body model is required to consider the longitudinal movement along the X-axis, the landscape of the Y-axis Sports and hook around the Z axis. The dynamic model established for the controller's predictive model is simplified based on the vehicle kinetic process to reduce the amount of control algorithm. The following ideal assumptions are performed when the vehicle dynamics is modeled. Suppose the no-handed car is driving on a flat pave, ignoring the vertical movement of the vehicle; only considering the pure side partial tire characteristics, ignores the coupling relationship be...

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Abstract

The invention discloses a trajectory tracking control method for a centroid-variable automatic guided vehicle, which comprises the following steps of: performing dynamics and kinematics theoretical analysis on the automatic guided vehicle, and establishing dynamics and kinematics models of the automatic guided vehicle; based on a Lyapunov direct method, establishing a global progressive tracking controller according to the dynamic and kinematic models of the automated guided vehicle, and performing global tracking on the reference trajectory; and optimizing the particle swarm optimization, and adaptively adjusting the control parameters input by the tracking controller. According to the invention, the trajectory tracking accuracy of the automatic guided vehicle is greatly improved.

Description

Technical field [0001] The present invention relates to an automatic guided vehicle Centroid tracking control method belongs to the technical field of control systems. Background technique [0002] AGV fast torque response, all-wheel independently controllable, to improve the flexibility of vehicle handling stability and tracking ability of great significance, has become a hot spot academia and industry development. [0003] Currently, about tracking study did not consider the AGV loading between stations, unloading cargo, causing the vehicle to the center of mass changes affect the trajectory tracking control produced; many theoretical results effectively improve the stability of the vehicle traveling in the tracking control nature, but precise study of vehicle tracking neglect. [0004] Precision tracking is to ensure four-wheel steering vehicle controller used in a complex environment, critical system error and can adapt. Therefore, research precision tracking has become a key...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0278G05D1/0276
Inventor 刘玮万益东张庆杰俞跃刘萍
Owner YANCHENG INST OF TECH
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