An AGV steering wheel control method based on a permanent magnet motor comprises the following steps that the position of an AGV is obtained in real time, when the AGV enters a turning point, the advancing speed V of the AGV and the tangent angle b of a track are obtained, and the advancing speed V comprises the front wheel speed V1 and the rear wheel speed V2; respectively calculating a front wheel steering angle theta1 and a rear wheel steering angle theta2 according to the traveling speed V of the automatic guided vehicle; according to the steering angle theta1, the steering angle theta2 and the tangent angle b of the track, the deviation angle A1 of the front wheel and the deviation angle A2 of the rear wheel are obtained; according to the deviation angle A1 and the deviation angle A2, the control mode of the front wheel permanent magnet motor and the control mode of the rear wheel permanent magnet motor are selected respectively. The position, speed and track information of the AGV is obtained in real time, accurate speed adjustment and steering control are carried out according to the position, speed and track information, intelligent motor control selection is carried out, and high-precision, high-efficiency and high-safety navigation and control of the automatic guided vehicle are achieved.
一种基于永磁电机的AGV舵轮控制方法,包括如下步骤:实时获取AGV的位置,当AGV进入转弯点时,获取AGV的行进速度V和轨迹的切线角度b,其中所述行进速度V包括前轮速度V1以及后轮速度V2;根据无人搬运车的行进速度V分别计算出前轮转向角度θ1与后轮的转向角度θ2;根据转向角度θ1、转向角度θ2以及和轨迹的切线角度b,获取前轮的偏差角度A1以及后轮的偏差角度A2;根据偏差角度A1与偏差角度A2的大小,分别选择前轮永磁电机的控制方式和后轮永磁电机的控制方式。本发明通过实时获取AGV的位置、速度和轨迹信息,并据此进行精确的速度调整和转向控制,以及智能的电机控制选择,实现了高精度、高效率和高安全性的无人搬运车导航与控制。
AGV steering wheel control method and system based on permanent magnet motor
一种基于永磁电机的AGV舵轮控制方法及系统
12.11.2024
Patent
Elektronische Ressource
Chinesisch
Europäisches Patentamt | 2024
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