Active anti-rollover control method for automatic guided vehicle

Abstract

The invention discloses an active anti-rollover control method for an automatic guided vehicle; the method comprises the following steps: establishing an automatic guided vehicle dynamic model and a two-degree-of-freedom vehicle model to obtain ideal values of the yaw velocity, the side slip angle and the vehicle body roll angle of an automatic guided vehicle; when the actual values of the yaw velocity and the side slip angle are larger than ideal values, considering that the vehicle is not in a stable state, starting an active steering controller for control, obtaining a front wheel active steering angle delta Delta based on model prediction and outputting the front wheel active steering angle delta Delta to the active steering controller, and enabling an active steering actuator to act; otherwise, considering that the vehicle is stable and not performing active control; when the actual value of the roll angle of the vehicle body is larger than the ideal value of the roll angle of the vehicle body, considering that the vehicle is in an unstable state, obtyaining the roll control torque delta Mxc based on sliding mode control, calculating the acting force Fxi of the push rod motor, outputting the calculation result to the load platform controller, and enabling the load platform actuator to act. The invention provides an anti-rollover control strategy combining active steering and load platform mass center adjustment, and the rollover phenomenon of the unmanned vehicle caused by the fact that the unmanned vehicle is on a slope and under the high mass center of goods accumulation is effectively reduced.

Description

technical field [0001] The invention relates to an active anti-rollover control method of an unmanned transport vehicle, belonging to the technical field of rollover control. Background technique [0002] Unmanned vans have obvious advantages and broad market prospects in terms of simplified vehicle layout structure, active chassis control and easy operation, and are becoming a research hotspot for scholars at home and abroad. Nowadays, most unmanned vans are driven in a distributed manner. As a new type of driving form for electric vehicles, it has unique stability control advantages in terms of drive / brake anti-skid, differential power steering, and active yaw control. It can improve the active safety of the vehicle. [0003] Experts and scholars at home and abroad have conducted a lot of research on the anti-rollover control of electric vehicles and other vehicles and have achieved relevant results. [0004] Most of the existing research has focused on the anti-rollover...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an active anti-rollover control method for unmanned guided vehicles to solve the technical problem of poor rollover control performance of unmanned guided vehicles in the prior art

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