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AGV multi-wheel system and synchronous control method thereof

A technology of wheel train and controller, applied in the direction of electric controller, controller with specific characteristics, etc., can solve problems such as complex wheel train, and achieve the effects of improving wheel wear, improving accuracy, and improving positioning accuracy.

Pending Publication Date: 2022-03-08
NINGXIA KOCEL MOLD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

AGV usually requires all wheels to have steering function, the most common is the four-wheel train structure, and the wheel train will be more complicated for heavy-duty AGV

Method used

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  • AGV multi-wheel system and synchronous control method thereof
  • AGV multi-wheel system and synchronous control method thereof

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0022] The invention provides an AGV multi-wheel system, comprising: a wheel system, a fuzzy PID, and a controller; the wheel system includes a steering wheel and a steering wheel; the controller includes a fuzzy controller and a feedback controller; the steering wheel And the fuzzy PID and the feedback controller are set on the steering wheel; the steering wheel is set in series with the fuzzy controller, and the steering wheel is set in parallel with the steering wheel.

Embodiment 2

[0024] The invention provides a kind of AGV multi-wheel synchronous steering control method of an AGV multi-wheel system, which is characterized in that, the specific steps are as follows:

[0025] Step 1: Establish a fuzzy cross-coupling system: input a given angle value, and after the steering wheel receives the given angle value, the steering wheel outputs a feedback value to the first fuzzy PID and the fuzzy controller, and the first fuzzy PID The fuzzy PID outputs a first compensation value to the steering wheel, and after adjusting the steering angle of the steering wheel, the fuzzy controller outputs a second compensation value to the steering wheel, and adjusts the steering angle again;

[0026] The second step: establish the train system of master-slave control, the steering wheel is used as the driving wheel of the train system, the steering wheel is used as the driven wheel of the train system, and the feedback value is input into the second fuzzy PID, the second fu...

Embodiment 3

[0037]Taking the six-wheel system as an example, but not limited to six-wheel system, the six-wheel system is composed of the first steering wheel, the second steering wheel and four steering wheels, each steering wheel and steering wheel are equipped with fuzzy PID, the first steering wheel and the second steering wheel Controlled by the fuzzy controller, the first steering wheel and the second steering wheel receive the same given angle value, and the synchronization of the two steering wheels is guaranteed in the given link of the steering angle signal, and the feedback value of the steering angle of the first steering wheel and the second steering wheel The difference is input to the fuzzy controller as a given deviation, and the fuzzy controller outputs corresponding compensation values ​​to the fuzzy PIDs of the first steering wheel and the second steering wheel according to specific fuzzy rules. The effect is opposite, so that the first steering wheel and the second stee...

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PUM

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Abstract

The invention relates to the field of AGV multi-wheel synchronous steering control, in particular to a control method for optimizing master-slave type and cross coupling type synchronous control strategies through a fuzzy control algorithm to achieve high-precision wheel train system synchronization. According to the AGV multi-wheel synchronous steering control method, cross coupling and master-slave control modes are adopted at the same time, and a bottom layer solution is provided for high-precision steering synchronous control of a multi-wheel train structure; fuzzy control is used for optimizing a cross coupling control mode, a compensation value is adjusted online, and the cross coupling control precision is improved; the fuzzy PID control strategy improves the rapidity of master-slave control, further improves the positioning precision of the AGV, achieves the high-precision synchronous control of each wheel, and effectively improves the wheel wear caused by the asynchronous steering of the wheels in the operation process.

Description

technical field [0001] The invention relates to the field of AGV multi-wheel synchronous steering control, in particular to a control method for optimizing master-slave and cross-coupling synchronous control strategies to realize high-precision wheel train system synchronization by using a fuzzy control algorithm. Background technique [0002] The logistics of traditional manufacturing workshops is usually realized by cranes or rail electric flat cars, which have problems such as low production efficiency, large safety hazards, and low intelligence level, which cannot meet the development requirements of intelligent manufacturing workshops. The AGV system is not limited by the site, logistics channel and space, and can achieve millimeter-level precise positioning. In the factory logistics system, it can fully reflect its flexibility and realize efficient, economical and flexible automatic material transfer. AGV usually requires all wheels to have steering function. The most ...

Claims

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Application Information

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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 孙伟赵以麟王永恩
Owner NINGXIA KOCEL MOLD