Automatic guided vehicle, control system and closed-loop control method

Abstract

The invention discloses an automatic guided vehicle, a control system and a closed-loop control method, the closed-loop control method is applied to the automatic guided vehicle, and the closed-loop control method comprises the following steps: obtaining a real-time tray rotating speed W1 of a tray; acquiring a real-time chassis rotating speed W2 of the chassis; the real-time rotating speed W3'of the rotating motor is obtained, and the real-time theoretical rotating speed W3 of the tray is calculated according to the rotating speed W3 '; and controlling a chassis driving assembly to act according to the tray rotating speed W1, the chassis rotating speed W2 and the theoretical rotating speed W3 at the same time so as to adjust the chassis rotating speed W2. According to the closed-loop control method provided by the invention, in the implementation process, a closed-loop control method using the tray rotating speed W1 as a reference is considered to control the movement of the AGV chassis, the adjustment efficiency is higher than that of directly controlling the movement of the rotating tray, and the application that the rotating tray and the AGV chassis keep rotating synchronously is well realized; the method has the characteristics of high stability and reliability in attitude control of the load shelf.

Description

technical field [0001] The present invention relates to the technical field of automatic guided vehicles, and more specifically, relates to a closed-loop control method. In addition, the present invention also relates to a control system for implementing the above-mentioned closed-loop control method and an automatic guided vehicle including the above-mentioned control system. Background technique [0002] Automated guided vehicle (AGV, Automated guided vehicle) has the function of automatic driving in an unstructured environment, and has become the key equipment of automated logistics transportation system and flexible manufacturing system. Under these application conditions, there are high requirements for the working efficiency of the AGV, which needs to be able to walk on the back of the shelf and stabilize the attitude of the shelf. [0003] In the prior art, the structure of the AGV trolley generally includes a moving chassis, a driver motor and a driver, a rotating j...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the structure of the AGV trolley generally includes a moving chassis, a driver motor and a driver, a rotating jacking installation base, a jacking platform, a rotating mechanism and a driving mechanism, and a rotating tray. The core and root of the variable application is to directly control the speed of the rotating motor of the slewing support device to keep in sync with the rotation speed of the AGV chassis. The existing closed-loop control method defaults to dividing the speed of the rotating motor by the equivalent mechanical reduction ratio to equal the speed of the turntable. The ring controls the rotation of the rotary tray motor to control the movement of the rotary tray, but the rotary motor drives the load tray to rotate through the reducer and the rotary gear, and there are problems of mechanical hysteresis and deformation

In such cases, the stability and precision of the control of the top pallet cannot be guaranteed. In severe cases, the top shelf may even collide with the application environment, causing property damage

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