农业机械学报2018，Vol.49Issue(4)：27-35,9.DOI:10.6041/j.issn.1000-1298.2018.04.003
轮式AGV纯滚动转向系统设计与无侧滑转向控制研究
Pure Rolling Steering System Design and Research on Non-sideslip Steering Control for Wheeled AGV
摘要
Abstract
Aiming to eliminate the wheel sideslip of the front wheel guided AGV,a kind of double crank steering system with changing length link was designed based on the steering principle of Ackermann.By deducing steering dynamics models,closed loop control models of rotation angle of left and right front wheels were established in consideration of steering resisting moment.PID synchronous control algorithm of steering angle of left and right front wheels was proposed.The dynamic responses of steering control models were simulated by Matlab,and the relative control parameters were obtained.With Panasonic PLC as the core,a measurement and control system of AGV steering was built up,which consisted of AC servo motor of left front wheel,AC servo motor of push rod,actuator and encoder.Synchronous closed loop control flow of front wheel steering system was designed,and real-time synchronous control of rotation angle of left and right front wheels and the collection of rotation angle data were realized to meet the principle of pure rolling steering.Pivot steering test on grassland roadway and turning travel test of AGV along S-type trajectory under hard roadway showed that the errors between expected turning angle and actual turning angle of left and right front wheels of steering system of front wheel guide AGV were no more than 0.1°,and AGV steering system can approximately satisfy the movement condition of pure rolling and non-sideslip,which validated the correctness and effectiveness of pure rolling steering system design of wheeled AGV and steering control.关键词
轮式自动导引车/纯滚动转向系统/转向动力学/无侧滑转向控制Key words
wheeled AGV/pure rolling steering system/steering dynamics/non-sideslip steering control分类
信息技术与安全科学引用本文复制引用
谢永良,尹建军,贺坤,余承超,胡旭东..轮式AGV纯滚动转向系统设计与无侧滑转向控制研究[J].农业机械学报,2018,49(4):27-35,9.基金项目
国家自然科学基金项目(51475212) （51475212）
