The invention discloses an automatic guided vehicle torque distribution control technology under a variable centroid steering working condition, and the technology comprises an integrated control strategy of a layering structure, the integrated control strategy of the layering structure is composed of an input signal layer, an integrated control layer and a distribution execution layer, the input signal layer comprises a reference model, the integrated control layer internally comprises an integrated controller, and the distribution execution layer internally comprises a driving torque distribution controller and a steering controller. Through coordination and cooperation of the three parts, steering stability control over the automatic guided vehicle under the variable centroid working condition is achieved, and the capacity of the automatic guided vehicle for executing loading and unloading tasks in a narrow space is improved; the integrated control layer uses the vehicle reference model, a required generalized control force, an additional yawing moment and an additional wheel turning angle are calculated according to the external input and current feedback of the vehicle; and the distribution execution layer adopts a driving torque distribution controller based on quadratic optimization to distribute driving torques of four wheels.
本发明公开了一种变质心转向工况下的无人搬运车转矩分配控制技术,包括:分层化结构的集成控制策略,所述分层化结构的集成控制策略由输入信号层、集成控制层和分配执行层组成,所述输入信号层内包括参考模型,所述集成控制层内包括集成控制器,所述分配执行层内包括驱动力矩分配控制器和转向控制器。本发明通过三部分的协调配合,实现无人搬运车在变质心工况下的转向稳定性控制,提高无人搬运车在狭小空间执行装卸任务的能力,集成控制层通过车辆参考模型,根据外界输入和车辆当前反馈计算所需广义控制力、附加横摆力矩和附加车轮转角;分配执行层采用基于二次优化的驱动力矩分配控制器分配四个车轮的驱动力矩。
Automatic guided vehicle torque distribution control technology under variable centroid steering working condition
一种变质心转向工况下的无人搬运车转矩分配控制技术
2021-12-17
Patent
Elektronische Ressource
Chinesisch
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