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轮毂电机驱动的全向运行型AGV的位姿纠偏研究与实验

吴晓君 马广强 李妍 贾慧波

吴晓君, 马广强, 李妍, 贾慧波. 轮毂电机驱动的全向运行型AGV的位姿纠偏研究与实验[J]. 机械科学与技术, 2021, 40(12): 1877-1884. doi: 10.13433/j.cnki.1003-8728.20200289
引用本文: 吴晓君, 马广强, 李妍, 贾慧波. 轮毂电机驱动的全向运行型AGV的位姿纠偏研究与实验[J]. 机械科学与技术, 2021, 40(12): 1877-1884. doi: 10.13433/j.cnki.1003-8728.20200289
WU Xiaojun, MA Guangqiang, LI Yan, JIA Huibo. Posture Correction based on Omnidirectional AGV Driven by In-wheel Motor[J]. Mechanical Science and Technology for Aerospace Engineering, 2021, 40(12): 1877-1884. doi: 10.13433/j.cnki.1003-8728.20200289
Citation: WU Xiaojun, MA Guangqiang, LI Yan, JIA Huibo. Posture Correction based on Omnidirectional AGV Driven by In-wheel Motor[J]. Mechanical Science and Technology for Aerospace Engineering, 2021, 40(12): 1877-1884. doi: 10.13433/j.cnki.1003-8728.20200289

轮毂电机驱动的全向运行型AGV的位姿纠偏研究与实验

doi: 10.13433/j.cnki.1003-8728.20200289
基金项目: 

西安市科技局创新人才服务项目 2020KJRC0049

详细信息
    作者简介:

    吴晓君(1964-), 教授, 博士生导师, 博士, 研究方向为智能控制, m18792856622@163.com

  • 中图分类号: TH112

Posture Correction based on Omnidirectional AGV Driven by In-wheel Motor

  • 摘要: 由于各种因素的干扰, 全向AGV在行驶过程中会偏离期望路径, 针对这一问题, 本文开发基于轮毂电机的全向AGV样机并对其进行位姿纠偏研究和实验。首先, 根据样机四轮独立驱动、独立转向的特点, 进行运动学分析, 得到不同转向模式下转速与转角之间的关系。其次, 将位姿偏差分解为角度偏差和位置偏差, 利用模糊PID控制-多步预测最优控制联合控制的方式消除全向AGV的路径偏差, 并在轮毂电机和转向电机之间进行解耦计算。最后, 对控制策略进行仿真, 且在所开发的样机上进行直线与圆弧的路径跟踪实验, 结果表明全向AGV可以实现稳定的路径跟踪, 拥有良好的纠偏性能。
  • 图  1  各工况下AGV的模型图

    图  2  全向AGV的全局坐标系与局部坐标系

    图  3  联合控制策略的控制原理图

    图  4  多步预测最优控制器仿真

    图  5  全向移动平台的样机图(搭载机械臂)

    图  6  直线行驶时的实时轨迹

    图  7  直线跟踪实验角度偏差和距离偏差的纠偏过程

    图  8  圆弧行驶时的实时轨迹

    图  9  圆弧跟踪实验角度偏差和距离偏差的纠偏过程

    表  1  初始参数和初始偏差

    车体轮距B 1 420 mm
    控制周期Ti 0.1 s
    零距离偏差 eθ=5° ed=0
    零角度偏差 eθ=0 ed=20 mm
    同号偏差 eθ=5° ed=20 mm
    异号偏差 eθ=-5° ed=20 mm
    下载: 导出CSV
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  • 收稿日期:  2020-05-26
  • 刊出日期:  2021-12-05

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