Automatic guided vehicle torque distribution control technology under variable centroid steering working condition

Abstract

The invention discloses an automatic guided vehicle torque distribution control technology under a variable centroid steering working condition, and the technology comprises an integrated control strategy of a layering structure, the integrated control strategy of the layering structure is composed of an input signal layer, an integrated control layer and a distribution execution layer, the input signal layer comprises a reference model, the integrated control layer internally comprises an integrated controller, and the distribution execution layer internally comprises a driving torque distribution controller and a steering controller. Through coordination and cooperation of the three parts, steering stability control over the automatic guided vehicle under the variable centroid working condition is achieved, and the capacity of the automatic guided vehicle for executing loading and unloading tasks in a narrow space is improved; the integrated control layer uses the vehicle reference model, a required generalized control force, an additional yawing moment and an additional wheel turning angle are calculated according to the external input and current feedback of the vehicle; and the distribution execution layer adopts a driving torque distribution controller based on quadratic optimization to distribute driving torques of four wheels.

Description

technical field [0001] The invention relates to the technical field of unmanned guided vehicles, and more specifically relates to a torque distribution control technology for unmanned guided vehicles under variable center-of-mass steering conditions. Background technique [0002] Taking the four-wheel-drive and four-turn unmanned transport vehicle with a load platform as the research object, the torque distribution control technology under the steering condition is studied. In the scenario of cargo handling in a smart factory, the position of the center of mass of the AGV that carries the goods does not necessarily coincide with the position of the center of mass of the car body, or the position of the center of mass of the goods each time is uncertain, so that the entire vehicle (including the car body) The position of the center of mass of the vehicle and the cargo) changes and is uncertain. The change of the position of the center of mass will cause the vertical loads of ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a torque distribution control technology for unmanned guided vehicles under variable center of mass steering conditions, which solves the problem of differential steering effects when the output torques of the drive wheels on both sides of the vehicle driven by the hub motor are inconsistent, and the vehicle turns Due to the effect of centrifugal force, the change of the center of mass of the vehicle will be aggravated

If only the steering system is used to control the stability of the vehicle without correcting the output torque of the driving wheels of the vehicle, it may cause the vehicle to deviate and deteriorate the driving.

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