全向自动导引车导向机构设计及其运动控制研究
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摘要
针对麦克纳姆轮加工复杂,运动效率低,承载能力较弱及容易出现振动、打滑等问题,研发了基于轮毂电机的自动导引车(automatic guided vehicle,AGV)全转向导向机构,并根据该导向机构的控制方式——四轮独立驱动和四轮独立转向(4WID-4WIS)的方式,对该全向AGV进行了运动控制研究。首先,构建了该全转向导向机构的运动学模型,并进行了运动学分析,得出不同转向模式下全向AGV转速与转角之间的关系。其次,为消除该全向AGV移动时产生的路径偏差,提出了基于多步预测最优控制和模糊控制的联合路径跟踪控制技术,以提高控制精度和为路径跟踪提供充足的纠偏能力;进行了转向电机和轮毂电机之间的解耦控制,保证了转向电机和轮毂电机具有良好的输入输出响应。最后,通过实车实验验证了该全转向导向机构具有良好的运动效果,能够满足实际工况的要求,可为AGV在工业领域的应用提供一定的参考。
Aiming at the problems that include the complex processing,low movement efficiency,weak bearing capacity,vibration and slippage of the Mecanum wheel,a full steering guidunce mechanism based on in-wheel motor was studied.The motion control of omnidirectional AGV based on four-wheel independent steering and four-wheel independent driving(4 WID-4 WIS)technology was researched.Firstly,a kinematics model of the full steering guidance mechanism was constructed,and kinematics analysis was performed to obtain the relationship between rotation speed and rotation angle of omnidirectional AGV under different steering modes.Secondly,path tracking technique based on multi-step predictive optimal control and fuzzy control was used to eliminate the path deviation of the omnidirectional AGV.The combined control improved the control accuracy and provided adequate rectification capability for path tracking.The decoupling control between the steering motor and in-wheel motor was carried out to ensure good input and output response.Finally,the real-vehicle experiment proved that the full-steering moving mechanism had a good movement effect and could meet the requirements of working conditions,which provided a certain reference for the application of AGV in the industrial field.
Aiming at the problems that include the complex processing,low movement efficiency,weak bearing capacity,vibration and slippage of the Mecanum wheel,a full steering guidunce mechanism based on in-wheel motor was studied.The motion control of omnidirectional AGV based on four-wheel independent steering and four-wheel independent driving(4 WID-4 WIS)technology was researched.Firstly,a kinematics model of the full steering guidance mechanism was constructed,and kinematics analysis was performed to obtain the relationship between rotation speed and rotation angle of omnidirectional AGV under different steering modes.Secondly,path tracking technique based on multi-step predictive optimal control and fuzzy control was used to eliminate the path deviation of the omnidirectional AGV.The combined control improved the control accuracy and provided adequate rectification capability for path tracking.The decoupling control between the steering motor and in-wheel motor was carried out to ensure good input and output response.Finally,the real-vehicle experiment proved that the full-steering moving mechanism had a good movement effect and could meet the requirements of working conditions,which provided a certain reference for the application of AGV in the industrial field.
引文
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[17]钱晓明,朱立群,楼佩煌,等.基于位姿状态的全向运行型AGV路径跟踪优化控制方法[J].农业机械学报,2018,49(4):20-26.QIAN Xiao-ming,ZHU Li-qun,LOU Pei-huang,et al.Optimal path tracking control method of omni-directional mobile AGV based on pose state[J].Transactions of the Chinese Society of Agricultural Machinery,2018,49(4):20-26.
[18]杨天旭,楼佩煌,钱晓明.融合多模糊控制器的全方位移动AGV的路径跟踪控制技术[J].机械设计与制造工程,2016,45(7):57-61.YANG Tian-xu,LOU Pei-huang,QIAN Xiao-ming.Fusion fuzzy controller of path tracking for the omnidirectional mobile AGV[J].Machine Design and Manufacturing Engineering,2016,45(7):57-61.
[2]王曙光.移动机器人原理与设计[M].北京:人民邮电出版社,2013:32-38.WANG Shu-guang.Principles and design of mobile robots[M].Beijing:Peoples Posts and Telecommunications Press,2013:32-38.
[3]唐炜,刘勇,胡海秀,等.全向移动平台运动学分析及其自适应控制器设计[J].机械科学与技术,2016,36(6):883-889.TANG Wei,LIU Yong,HU Hai-xiu,et al.Kinematics analysis and self-adaptive controller design of omni-directional movement platform[J].Mechanical Science and Technology for Aerospace Engineering,2016,36(6):883-889.
[4]GOSSELIN C,ANGELES J.Singularity analysis of closed-loop kinematic chains[J].IEEE Transactions on Robotics and Automations,1990,6(3):281-290.
[5]LI Yuan-ping.Slip modelling estimation and control of omnidirectional wheel mobile robots with powered caster wheel[D].Singapore:National University of Singapore,Department of Mechanical Engineering,2009:5-15.
[6]CARIDA V F,MORANDIN Jr O,TUMA C C M.Approaches of fuzzy systems applied to an AGV dispatching system in a FMS[J].The International Journal of Advanced Manufacturing Technology,2015,79(1/4):615-625.
[7]汤兵勇,路林吉,王文杰.模糊控制理论与应用技术[M].北京:清华大学出版社,2002:152-194.TANG Bing-yong,LU Lin-ji,WANG Wen-jie.Fuzzy control theory and application technology[M].Beijing:Tsinghua University Press,2002:152-194.
[8]陈无畏,孙海涛,李碧春,等.基于标识线导航的自动导引车跟踪控制[J].中国机械工程,2006,42(8):164-170.CHEN Wu-wei,SUN Hai-tao,LI Bi-chun,et al.Tracking control of automatic guide vehicle based on markerlinenavigation[J]. ChinaMechanical Engineering,2006,42(8):164-170.
[9]JI Shou-wen,LI Ke-qiang,MIAO Li-xin,et al.Design of a new type of AGV based on computer vision[J].Chinese Journal of Mechanical Engineering,2004,17(1):97-101.
[10]武星,楼佩煌,唐敦兵.自动导引车路径跟踪和伺服控制的混合运动控制[J].机械工程学报,2011,47(3):43-48.WU Xing,LOU Pei-huang,TANG Dun-bing.Integrated motion control of path tracking and servo control for an automated guided vehicle[J].Journal of Mechanical Engineering,2011,47(3):43-48.
[11]WU Jin-bo,XU Guo-hua,YIN Zhou-ping.Robust adaptive control for a nonholonomic mobile robot with unknown parameters[J].Journal of Control Theory and Applications,2009,7(2):212-218.
[12]徐俊艳,张培仁,程剑锋.基于Backstepping时变反馈和PID控制的移动机器人实时轨迹跟踪控制[J].电机与控制学报,2004,8(1):35-38.XU Jun-yan,ZHANG Pei-ren,CHENG Jian-feng.Real-time trajectory tracking control of mobile robot based on Backstepping time-varying state feedback and PID control method[J].Electric Machines and Control,2004,8(1):35-38.
[13]刘晨辉.多变量过程系统解耦理论[M].北京:北京水利出版社,1984:213-241.LIU Chen-hui.Process control of decoupling theory for multivariable system[M].Beijing:Beijing Water Conservancy Press,1984:213-241.
[14]MARINO R, CINILI F.Input-output decoupling control by measurement feedback in four-wheel-activesteering vehicles[C]//Proceedings of the 45th IEEE Conference on Decision and Control,San Diego,Dec.13-15,2006.
[15]刘成,赵福宇,侯素霞,等.一种新的多变量参考模型解耦控制的方法[J].控制工程,2009,16(1):12-15,38.LIU Cheng,ZHAO Fu-yu,HOU Su-xia,et al.A reference model decoupling method for multivariable systems[J].Control Engineering,2009,16(1):12-15,38.
[16]刘成,赵福宇,侯素霞,等.一种基于控制量一致的参考模型解耦方法[J].控制工程,2009,16(5):571-574.LIU Cheng,ZHAO Fu-yu,HOU Su-xia,et al.A reference model decoupling method based on consistency controller outputs[J].Control Engineering,2009,16(5):571-574.
[17]钱晓明,朱立群,楼佩煌,等.基于位姿状态的全向运行型AGV路径跟踪优化控制方法[J].农业机械学报,2018,49(4):20-26.QIAN Xiao-ming,ZHU Li-qun,LOU Pei-huang,et al.Optimal path tracking control method of omni-directional mobile AGV based on pose state[J].Transactions of the Chinese Society of Agricultural Machinery,2018,49(4):20-26.
[18]杨天旭,楼佩煌,钱晓明.融合多模糊控制器的全方位移动AGV的路径跟踪控制技术[J].机械设计与制造工程,2016,45(7):57-61.YANG Tian-xu,LOU Pei-huang,QIAN Xiao-ming.Fusion fuzzy controller of path tracking for the omnidirectional mobile AGV[J].Machine Design and Manufacturing Engineering,2016,45(7):57-61.