Multi-steering-wheel cooperative control method for omnidirectional mobile AGV

A collaborative control, omnidirectional movement technology, applied in electric controllers, non-electric variable control, control/regulation systems, etc., can solve problems such as force mismatch between gear trains, reduce asynchrony, improve motion accuracy and Operational efficiency, the effect of reducing internal force

CN111308884AActive Publication Date: 2020-06-19NANJING CHENGUANG GRP +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2020-06-19

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Abstract

The invention discloses a multi-steering-wheel cooperative control method for an omnidirectional mobile AGV. The multi-steering-wheel cooperative motion control comprises rotation speed control of a steering wheel driving motor and rotation angle position control of a steering motor. According to the target motion speed of an AGV body, the expected driving speed and deflection angle of each steering wheel are calculated through an inverse kinematics model, and then the driving speed is compensated by adopting a speed synchronization control method to obtain the actual control quantity of a steering wheel driving motor. According to the invention, the motion control problem of the multi-steering-wheel driving type omnidirectional mobile AGV is effectively solved, the AGV can accurately track a guide path, the internal force consumption between wheel sets can be reduced, the motion process is more coordinated, and the endurance time is prolonged.
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Description

technical field

[0001] The invention belongs to the technical field of AGV (Automatic Guided Vehicle) motion control, and more specifically relates to a control method capable of realizing omnidirectional motion of a multi-rudder wheel driven AGV. Background technique

[0002] AGV (Automatic Guided Vehicle) is a wheeled mobile robot that can automatically drive along a prescribed path through a dispatch system or manual control, and it is widely used in the manufacturing and logistics industries. Many scenarios require the AGV to have omnidirectional mobility, that is, it can rotate around any point in the plane, or move in any direction without changing the posture of the car body. Existing omnidirectional mobile AGVs usually use mecanum wheel drive. The mecanum wheel has simple control and flexible movement, but its movement efficiency is low, and due to the limitation of structure and material, its single wheel bearing capacity is not large, and its price is relatively h...

Examples

Embodiment Construction

[0028] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below taking an AGV with six steering wheels as an example. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other implementations obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

[0029] A wheel group cooperative motion control method for a steering wheel-driven AGV, the cooperative motion method obtains the driving and steering control quantities of each steering wheel through an inverse kinematics model and speed compensation, and controls the speed of the steering wheel drive motor and the steering motor The angular position control of the system effectively solves the problem of for...