The invention discloses a yaw stability control system for an automatic guided vehicle. The yaw stability control system comprises an upper-layer controller and a lower-layer controller electrically connected with the upper-layer controller, wherein the upper-layer controller comprises a yaw velocity controller, a side slip angle controller, an extension combined controller and a sliding mode controller which are electrically connected with the automatic guided vehicle; the sliding mode controller is connected with the yaw velocity controller, the side slip angle controller and the extension combined controller; the lower-layer controller is a driving torque distribution controller and is electrically connected with a hub motor of the automatic guided vehicle. According to the invention, yaw stability of the automatic guided vehicle under the working condition of variable centroid is greatly improved.
本发明公开了一种无人搬运车横摆稳定性控制系统,包括上层控制器和与上层控制器机电连接的下层控制器;所述上层控制器包括与无人搬运车机电连接的横摆角速度控制器、质心侧偏角控制器、可拓联合控制器和滑模控制器;所述滑模控制器与横摆角速度控制器、质心侧偏角控制器、可拓联合控制器相连;所述下层控制器为驱动力矩分配控制器,与无人搬运车的轮毂电机机电连接。本发明极大提高了在变质心工况下无人搬运车的横摆稳定性。
System and method for controlling yaw stability of automatic guided vehicle
一种无人搬运车横摆稳定性控制系统及方法
2021-10-26
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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