AGV Turntable Chassis Coupling Disturbance Compensation
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Solution Overview
Problem
Current Automated Guided Vehicles (AGVs) face challenges in achieving high-precision control during turning due to the independent control of turntable and chassis, leading to difficulties in eliminating disturbance terms and maintaining spatial orientation of carried goods.
Innovation Solution
A control method and device that utilize feedback signals to compensate for disturbances between the turntable and chassis electromechanical control subsystems, determining compensation voltages based on angular velocities and torques to synchronize the movement of drive wheels, thereby ensuring precise control of both the turntable and chassis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If independent control systems are used for turntable and chassis, then control simplicity is improved, but control precision deteriorates
Solution Approach 1:
The patent merges the independent control systems of the turntable and chassis into an integrated control system. The controller receives feedback signals from both the turntable angular velocity sensor and chassis motion sensors, processes them together, and generates coordinated control outputs that account for the coupling relationship between the two subsystems, thereby improving control precision without significantly increasing system complexity
Solution Approach 2:
The patent implements a feedback mechanism where the controller continuously receives feedback signals from sensors monitoring both turntable angular velocity and chassis motion state. This feedback is used to dynamically adjust control signals, enabling real-time compensation for disturbances and tracking errors, thus achieving high-precision movement control
2Measurement precision
If closed-loop control systems are designed for each motor, then tracking accuracy is improved, but system complexity increases
Solution Approach 1:
The patent combines the closed-loop control mechanisms for the turntable motor and chassis drive motor into a unified control architecture. A single controller manages both closed-loop systems, sharing common computational resources and control algorithms, which maintains high tracking accuracy while reducing overall system complexity compared to completely separate control systems
Solution Approach 2:
The controller is designed with multi-functionality, capable of performing both turntable control and chassis control functions. It processes feedback signals from multiple sensors and generates control signals for multiple motors, thereby avoiding the need for separate dedicated control systems and reducing overall complexity while maintaining precision
3Ease of operation
If turntable and chassis are controlled independently, then control ease is improved, but synchronization accuracy deteriorates
Solution Approach 1:
The patent uses feedback signals from angular velocity sensors on both the turntable and chassis to continuously monitor their rotational velocities. The controller compares these velocities and generates compensatory control signals to maintain synchronization, achieving accurate velocity matching while keeping the control operation relatively simple through automated feedback adjustment
Solution Approach 2:
The controller proactively compensates for expected synchronization errors by analyzing the coupling relationship between turntable and chassis. It applies preliminary corrective actions based on predicted disturbances, preventing synchronization deviations before they occur, thus maintaining accurate velocity synchronization with minimal manual intervention
Data Source
AI summary
The present disclosure discloses a control method and device for automated guided vehicle, and automated guided vehicle. By utilizing the coupling relation between the turntable and the chassis, a disturbance to the chassis electromechanical control subsystem is compensated by using a feedback signal in the turntable electromechanical control subsystem, or a disturbance to the turntable electromechanical control subsystem is compensated by using a feedback signal in the chassis electromechanical control subsystem, so that high-precision movement control of the turntable and the chassis is realized.