Automatic guided vehicle for torque distribution through load torque observer
An unmanned truck, load torque technology, applied in observer control, torque ripple control, current collectors and other directions, can solve the problems of unmanned trucks losing stable state, motor load changes, etc., to improve the anti-load capability and stability, reduce damage, and facilitate the use of
Pending Publication Date: 2022-06-07
YANCHENG INST OF TECH
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[0004] The purpose of the present invention is to provide an unmanned guided vehicle that performs torque distribution through a load torque observer, which solves the situation that the unmanned guided vehicle encounters loading and unloading goods in a moving state, so that the load of the unmanned guided vehicle changes, The change of the load will cause the change of the motor load, so that the unmanned van loses its original stable state. This technical problem
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[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0020] see Figure 1-3 , the present invention provides a technical solution: an unmanned guided vehicle for torque distribution through a load torque observer, including an unmanned guided vehicle, which includes a car body 1 and a rotary built in the car body 1 Torque feedback control system, the torque feedback control system includes a load torque observer, a motor control unit, an integrated controller, a power converter, a hub motor, a current sensor, a ...
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The invention discloses an automatic guided vehicle for torque distribution through a load torque observer, which comprises an automatic guided vehicle, and the automatic guided vehicle comprises a vehicle body and a torque feedback control system arranged in the vehicle body. The torque feedback control system comprises a load torque observer, a motor control unit, an integrated controller, a power converter, a hub motor, a current sensor, a current sensor and a rotating speed sensor, and the load torque observer is connected with the motor control unit through a circuit; one end of the motor control unit is connected with the integrated controller, the other end of the motor control unit is connected with the power converter, the power change period is connected with the hub motor through a line, and the hub motor is connected with the current sensor, the current sensor and the rotating speed sensor through lines. And the current sensor and the rotating speed sensor are connected with the motor control unit through lines. According to the torque distribution system for the automatic guided vehicle, the load resistance and the stability of the automatic guided vehicle are improved.
Description
technical field [0001] The invention relates to the technical field of unmanned guided vehicles, in particular to an unmanned guided vehicle for torque distribution through a load torque observer. Background technique [0002] Unmanned van refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, capable of driving along a prescribed guiding path, with safety protection and various transfer functions, and a transport vehicle that does not require a driver in industrial applications. A rechargeable battery is its power source. Generally, the computer can be used to control its travel route and behavior, or the electromagnetic track can be used to set up its travel route. The electromagnetic track is pasted on the floor, and the unmanned van will move and act according to the information brought by the electromagnetic track. [0003] However, the existing unmanned transport vehicles have the following problems in the process of...
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IPC IPC(8): H02P6/10H02P6/28H02P23/12H02P23/14H02K5/24H02J7/00B61D47/00B61B13/00
CPCH02P6/10H02P6/28H02P23/12H02P23/14H02K5/24H02J7/00B61D47/00B61B13/00Y02T10/72
Inventor 刘丽霞刘玮王啸威于水胜刘萍
Owner YANCHENG INST OF TECH