The invention discloses an active anti-rollover control method for an automatic guided vehicle; the method comprises the following steps: establishing an automatic guided vehicle dynamic model and a two-degree-of-freedom vehicle model to obtain ideal values of the yaw velocity, the side slip angle and the vehicle body roll angle of an automatic guided vehicle; when the actual values of the yaw velocity and the side slip angle are larger than ideal values, considering that the vehicle is not in a stable state, starting an active steering controller for control, obtaining a front wheel active steering angle delta Delta based on model prediction and outputting the front wheel active steering angle delta Delta to the active steering controller, and enabling an active steering actuator to act; otherwise, considering that the vehicle is stable and not performing active control; when the actual value of the roll angle of the vehicle body is larger than the ideal value of the roll angle of the vehicle body, considering that the vehicle is in an unstable state, obtyaining the roll control torque delta Mxc based on sliding mode control, calculating the acting force Fxi of the push rod motor, outputting the calculation result to the load platform controller, and enabling the load platform actuator to act. The invention provides an anti-rollover control strategy combining active steering and load platform mass center adjustment, and the rollover phenomenon of the unmanned vehicle caused by the fact that the unmanned vehicle is on a slope and under the high mass center of goods accumulation is effectively reduced.
本发明公开了一种无人搬运车主动防侧翻控制方法,包括如下步骤:建立无人搬运车动力学模型和二自由度车辆模型,得到无人搬运车的横摆角速度、质心侧偏角、车身侧倾角的理想值;当横摆角速度和质心侧偏角实际值大于理想值时,认为车辆不在稳定状态,启动主动转向控制器进行控制,基于模型预测得到前轮主动转角Δδ并输出给主动转向控制器,主动转向执行器动作;否则认为车辆稳定,不进行主动控制;当车身侧倾角实际值大于车身侧倾角的理想值时,认为车辆处于不稳定状态,基于滑模控制得到侧倾控制力矩ΔMxc并计算出推杆电机的作动力Fxi,将计算结果输出给负载平台控制器,负载平台执行器动作。本发明提出了一种联合主动转向和负载平台质心调整的防侧翻控制策略,有效降低了无人搬运车在斜坡及因货物堆积高质心下造成的无人车侧翻现象。
Active anti-rollover control method for automatic guided vehicle
一种无人搬运车主动防侧翻控制方法
2021-11-09
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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