<bdo id="yymqi"><label id="yymqi"></label></bdo><strong id="yymqi"></strong>
  • <bdo id="yymqi"></bdo>
    <bdo id="yymqi"><blockquote id="yymqi"></blockquote></bdo>
  • AGV控制技術的關鍵:AGV導引 The Key to AGV Control Technology: AGV Guidance

    AGV導引(Guidance)是指根據AGV導航(Navigation)所得到的位置信息,按AGV的路徑所提供的目標值計算出AGV的實際控制命令值,即給出AGV的設定速度和轉向角,這是AGV控制技術的關鍵。簡單看來,AGV的導引控制就是AGV軌跡跟蹤。這對有線式的導引(電磁,磁帶等導引方式)不會有太多的問題,但對無線式的導引(激光,慣性等導引方式)卻不是一件容易的事。

    AGV Guidance refers to calculating the actual control command value of the AGV according to the position information obtained by the AGV Navigation according to the target value provided by the path of the AGV, that is, giving the set speed and steering angle of the AGV, This is the key to AGV control technology. In simple terms, the guidance control of AGV is AGV trajectory tracking. This will not have too many problems with wired guidance (electromagnetic, magnetic tape, etc.), but it is not an easy task for wireless guidance (laser, inertial guidance, etc.).

    AGV運行路徑軌跡-2.jpg   AGV Running Path Trajectory


    AGV的路徑規劃是根據AGV運行的實際環境設計出AGV運行的路徑軌跡,AGV單機按照地面控制系統下發的段表中的路徑(段)屬性自動行駛。AGV的導引控制算法就是解決段表下發后AGV的參考點如何沿著既定軌跡行走,一般需要實現直線段和四次方曲線的導引控制。對于不同驅動方式的AGV來說,由于它的運動學模型不一樣,對應的導引控制算法也是不同的。這里簡單討論SD(Steer Driving)型AGV的導引算法:

    The path planning of AGV is to design the path trajectory of AGV operation according to the actual environment of AGV operation, and the AGV single machine automatically travels according to the path (segment) attributes in the segment table issued by the ground control system. The guidance control algorithm of the AGV is to solve how the reference point of the AGV walks along the established trajectory after the segment table is issued. Generally, it is necessary to realize the guidance control of the straight line segment and the quadratic curve. For AGVs with different driving methods, due to their different kinematic models, the corresponding guidance control algorithms are also different. Here is a brief discussion of the steering algorithm of SD (Steer Driving) AGV:

    我們的控制目標是AGV的參考點,目的是使AGV能很好地沿著既定軌跡行走。對SD型AGV來說,可以控制的只有AGV前輪的轉角和速度,通過運動模型可知:參考點的運行軌跡只和前輪的轉向角有關,所以,要實現對參考點軌跡跟蹤的控制,實際上就是對前輪轉向角的控制。

    Our control target is the reference point of the AGV, and the purpose is to make the AGV walk along the established trajectory well. For SD-type AGV, only the rotation angle and speed of the front wheel of the AGV can be controlled. Through the motion model, it can be known that the running trajectory of the reference point is only related to the steering angle of the front wheel. Therefore, to realize the control of the trajectory tracking of the reference point, In fact, it is the control of the steering angle of the front wheels.

    在具體的設計過程中,利用一種“追蹤導引方法”,即在AGV的運行過程中參考點始終追蹤著路徑軌跡上的虛擬點,這個虛擬點就像在賽狗時所用到的兔子,AGV永遠追不上,但又永遠在AGV前面不遠的地方;AGV前進的方向始終指向虛擬點,通過這樣周期性的調節,就可以使AGV以很小的誤差沿著路徑軌跡行走。

    In the specific design process, a "tracking and guidance method" is used, that is, the reference point always tracks the virtual point on the path track during the operation of the AGV. This virtual point is like the rabbit used in dog racing. The AGV can never catch up, but it is always not far in front of the AGV; the forward direction of the AGV always points to the virtual point. Through such periodic adjustment, the AGV can walk along the path trajectory with a small error.

    国产午夜无码精品免费看粉99_美女脱了内裤打开腿视频pppp_日本JAPANESEXXXX_欧美一级婬片AAAAAAA免费_高清