CN111775716A - AGV equipment speed control method and system - Google Patents

AGV equipment speed control method and system Download PDF

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Publication number
CN111775716A
CN111775716A CN202010517352.XA CN202010517352A CN111775716A CN 111775716 A CN111775716 A CN 111775716A CN 202010517352 A CN202010517352 A CN 202010517352A CN 111775716 A CN111775716 A CN 111775716A
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speed
acceleration
deceleration
steps
lim
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Chinese (zh)
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张津
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Shanghai Xinba Automation Technology Co ltd
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Shanghai Xinba Automation Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/04—Arrangements for starting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/14—Arrangements for controlling speed or speed and torque
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/24—Arrangements for stopping
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/36—Protection against faults, e.g. against overheating or step-out; Indicating faults
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The application discloses an AGV equipment speed control method and a system, wherein the method comprises a series of calculation steps to obtain the acceleration step number, the acceleration, the maximum speed, the step number of uniform speed operation, the deceleration and the deceleration step number of movement, generate an instruction to be applied to a driver, and control the equipment movement; by using the method provided by the invention, the AGV equipment does not generate impact, step loss, overtravel or oscillation when being started or stopped, the running is closer to linear acceleration and deceleration, the stable running of the AGV equipment is effectively realized, the operation experience is better, and the practicability is stronger.

Description

AGV equipment speed control method and system
Technical Field
The invention relates to the field of intelligent robots, in particular to an AGV equipment speed control method and system.
Background
AGVs are Automated guided vehicles (Automated guided vehicles) that are equipped with electromagnetic or optical Automated guidance devices, can travel along a predetermined guidance route, have safety protection and various transfer functions, and are industrial vehicles that do not require a driver, and use rechargeable batteries as their power sources. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route is set up by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to the floor, and the unmanned transport vehicle moves and acts according to the information brought by the electromagnetic track.
The AGV is characterized by wheeled movement, and has the advantages of quick action, high working efficiency, simple structure, strong controllability, good safety and the like compared with walking, crawling or other non-wheeled mobile robots. Compared with other equipment commonly used in material conveying, the AGV has the advantages that fixing devices such as rails and supporting frames do not need to be laid in the moving area of the AGV, and the AGV is not limited by sites, roads and spaces. Therefore, in the automatic logistics system, the automation and the flexibility can be fully embodied, and the efficient, economical and flexible unmanned production is realized.
At present, most of conveying devices are simple in speed control design, mainly rely on friction force to maintain the relative position relationship between a goods shelf and an AGV, and under the condition of starting or stopping, goods are likely to topple or be unstable.
Disclosure of Invention
Aiming at the key technical problems, the invention discloses an AGV equipment speed control method and system, and by utilizing the method provided by the invention, the AGV equipment does not generate impact, step loss, over travel or oscillation when being started or stopped, the operation is closer to linear acceleration and deceleration, and the operation experience is better.
The invention discloses an AGV equipment speed control method, which comprises the following steps:
the method comprises the following steps: receiving the total steps to be moved;
step two: calculating to obtain the acceleration of the motor
Figure BDA0002530629350000011
Time intervaltSpeed omeganWherein n is the number of acceleration steps, t0For the start of the pulse transmission, t1For the moment of sending the second pulse, t2The moment when the third pulse is sent. t is t0And t1With a time interval oft＝c0ttWherein c is0For the timer at t0And t1Count value of this period, ttIs the counting period of the timer. t is t1And t2The previous time interval ist＝c1ttWherein c is1For the timer at t1And t2Count value of this time, ttIs a timerA count period of (a); the timer generating the pulses has a count frequency ftMotor step angle α, position θ, and speed ω, thus:
the calculation formula of the time interval is:
Figure BDA0002530629350000021
the calculation formula of the acceleration is:
Figure BDA0002530629350000022
the velocity calculation formula at a certain moment is as follows:
Figure BDA0002530629350000023
step three: calculating to obtain a motor deceleration step number accel _ lim and a deceleration distance decel _ val, wherein step is the moving step number, accel is acceleration, decal is deceleration, speed is maximum speed, and max _ s _ lim is the step number required for accelerating to the required speed:
the calculation formula of the accel _ lim is as follows:
Figure BDA0002530629350000024
the calculation formula of decel _ val is as follows:
Figure BDA0002530629350000025
step four: calculating to obtain the number of steps of the motor running at a constant speed, wherein the calculation method is that the number of the steps remained after subtracting the acceleration step number max _ s _ lim and the deceleration step number accel _ lim from the total number of steps;
step five: and generating instructions to be applied to the driver according to the acceleration step number, the acceleration, the maximum speed, the step number of constant-speed running, the deceleration and the deceleration step number obtained by the calculation in the steps, and controlling the motion of the equipment.
Preferably, the method further comprises the step of counting the nth pulse timer counter value cnC, c ofnThe calculation formula of (2) is as follows:
Figure BDA0002530629350000026
preferably, the calculation of said acceleration during the calculation introduces a constant of 0.676, during the calculation c0Multiplying by constant 0.676, and calculating by multiplying speed, acceleration and deceleration by certain times.
Preferably, the certain multiple is 100 times.
Preferably, when max _ s _ lim is greater than accel _ lim, the end of acceleration is limited to the start of deceleration, and the calculation formula of the deceleration distance decel _ val is as follows: decel _ val ═ - (step-accel _ lim).
Preferably, the moving acceleration process is discretized into a plurality of time instants, and the acceleration at each time instant is calculated
Figure BDA0002530629350000031
And velocity ωnTo obtain a motor acceleration approaching linear speed ramp.
The invention also discloses a system for controlling the smooth movement of the AGV equipment, which at least comprises a calculation module, a speed control module and the AGV equipment, wherein the calculation module is used for executing an algorithm and calculating speed data related to the movement of the movement module, wherein the speed data comprises acceleration steps, acceleration, maximum speed, steps running at a constant speed, deceleration and deceleration steps; the speed control module is used for generating a speed control instruction according to the speed data obtained by the calculation module and controlling the AGV equipment to move; the AGV apparatus includes a motor and a moving part for performing a moving operation.
The invention also discloses an electronic device, the system comprises a processor and a memory, wherein the memory is used for storing the executable program; the processor is used for executing the executable program to realize the method.
In practical applications, the modules described in the method and system disclosed by the present invention may be deployed on one server, or each module may be deployed on a different server independently, and particularly, in order to provide a stronger computing processing capability, the modules may be deployed on a cluster server as needed.
In order that the invention may be more clearly and fully understood, specific embodiments thereof are described in detail below with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 shows a flow of an AGV device speed control method according to an embodiment.
Fig. 2 shows the correlation of acceleration, velocity, displacement in this embodiment.
Fig. 3 shows angular displacement versus speed (pulse) in this embodiment.
Fig. 4 shows a schematic representation of the acceleration/deceleration gradient in this embodiment.
Fig. 5 shows a schematic diagram of the acceleration/deceleration curve in the present embodiment.
Fig. 6 shows a schematic view of an acceleration scenario.
Fig. 7 shows another acceleration scenario diagram.
FIG. 8 shows a state machine in timer interrupt.
Fig. 9 shows a schematic diagram of four states of the servo motor operating speed.
Detailed Description
Referring to fig. 1, fig. 1 shows a flow of an AGV device speed control method, which specifically includes the following steps:
s10, the processing flow is started.
S11: receiving a total number of steps to be moved.
S12: and calculating to obtain the acceleration, the time interval and the speed of the motor.
Step two: calculating to obtain the acceleration of the motor
Figure BDA0002530629350000041
Time intervaltSpeed omeganWherein n is the number of acceleration steps, t0For the start of the pulse transmission, t1For the moment of sending the second pulse, t2The moment when the third pulse is sent. t is t0And t1With a time interval oft＝c0ttWherein c is0For the timer at t0And t1Count value of this period, ttIs the counting period of the timer. t is t1And t2The previous time interval ist＝c1ttWherein c is1For the timer at t1And t2Count value of this time, ttIs the counting period of the timer; the timer generating the pulses has a count frequency ftMotor step angle α, position θ, and speed ω, thus:
the calculation formula of the time interval is:
Figure BDA0002530629350000042
the calculation formula of the acceleration is:
Figure BDA0002530629350000043
the velocity calculation formula at a certain moment is as follows:
Figure BDA0002530629350000044
we can assume that the timer generating the pulses counts at a frequency ftThen, then
Figure BDA0002530629350000045
The following equation can be derived:
Figure BDA0002530629350000046
by giving the motor step angle α, position θ and speed ω, we can obtain
Figure BDA0002530629350000051
θ＝nα(rad)； (1-6)
Figure BDA0002530629350000052
Where spr is the abbreviation of steps per round, used herein as the number of pulses per revolution of the servo motor, n is the number of pulses, 1(rad/s) is about 9.55(rpm), and rpm is the abbreviation of rounds per minutes, i.e., the ring speed.
S13: and calculating to obtain the deceleration steps and the deceleration distance of the motor.
Calculating to obtain a motor deceleration step number accel _ lim and a deceleration distance decel _ val, wherein step is the moving step number, accel is acceleration, decal is deceleration, speed is maximum speed, and max _ s _ lim is the step number required for accelerating to the required speed:
the calculation formula of the accel _ lim is as follows:
Figure BDA0002530629350000053
the calculation formula of decel _ val is as follows:
Figure BDA0002530629350000054
s14: and calculating to obtain the number of steps of the motor running at a constant speed.
And calculating to obtain the number of steps of the motor running at a constant speed, wherein the calculation method is that the number of steps left after the acceleration step number max _ s _ lim and the deceleration step number accel _ lim are subtracted from the total number of steps.
S15: generating instructions to be applied to the actuator to control the motion of the device.
And generating instructions to be applied to the driver according to the acceleration step number, the acceleration, the maximum speed, the step number of constant-speed running, the deceleration and the deceleration step number obtained by the calculation in the steps, and controlling the motion of the equipment.
S10, the processing flow ends.
Step three: calculating to obtain a motor deceleration step number accel _ lim and a deceleration distance decel _ val, wherein step is the moving step number, accel is acceleration, decal is deceleration, speed is maximum speed, and max _ s _ lim is the step number required for accelerating to the required speed:
the calculation formula of the accel _ lim is as follows:
Figure BDA0002530629350000061
the calculation formula of decel _ val is as follows:
Figure BDA0002530629350000062
step four: calculating to obtain the number of steps of the motor running at a constant speed, wherein the calculation method is that the number of the steps remained after subtracting the acceleration step number max _ s _ lim and the deceleration step number accel _ lim from the total number of steps;
step five: and generating instructions to be applied to the driver according to the acceleration step number, the acceleration, the maximum speed, the step number of constant-speed running, the deceleration and the deceleration step number obtained by the calculation in the steps, and controlling the motion of the equipment.
Referring to FIG. 2, FIG. 2 shows the acceleration in this embodiment
Figure BDA0002530629350000063
Speed omeganThe correlation of the displacement θ.
Referring to fig. 3, fig. 3 shows the relationship between angular displacement and speed (pulse) in the present embodiment.
The speed of the servomotor being delayed by the time between pulsestAnd (5) controlling. These times need to be calculated in order to bring the speed of the servo motor closer to the speed ramp. The count frequency of the timer is used to discretely servo control the servomotor motion and process the delay, as shown in fig. 3, and the desired linear velocity ramp is infinitely close by a fit of the timer.
To obtain the velocity at a certain moment, it can be calculated from the acceleration:
Figure BDA0002530629350000064
the displacement at a certain moment can be determined from the acceleration
Figure BDA0002530629350000065
The shaft angle θ generated by the pulse in the nth step is n α, which can be derived as follows:
Figure BDA0002530629350000066
the time delay between the two steps is:
Figure BDA0002530629350000067
finally, the count value of the timer can be obtained:
Figure BDA0002530629350000071
the first pulse timer count value c can be obtained from equation (3-5)0And the nth pulse timer count value cn
Figure BDA0002530629350000072
Figure BDA0002530629350000073
Since the computational power of the MCU is limited and it would be time consuming to compute the root of the square twice in succession, we can consider using a polynomial to expand (3-6) to reduce the operation. Equation (3-7) is a specific example of the taylor equation, the mclaulin equation.
Figure BDA0002530629350000074
Nth pulse timer counter value cnCan be simplified to finally obtain cn
Figure BDA0002530629350000075
The formula is much faster than the calculation method of continuous opening the power of two, but when the formula is substituted into the original formula, the deviation is found, and the error can be solved by multiplying a coefficient of 0.676.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating the acceleration/deceleration gradient in the present embodiment.
From the above formula, the acceleration and c can be known0And n. If acceleration or deceleration needs to be changed, that
Then a value of n is recalculated. Time tnAnd n as parameters of acceleration, velocity and servo angle, we can obtain
Figure BDA0002530629350000076
Figure BDA0002530629350000081
Combining the formulae (4-1) and (4-2) to obtain
Figure BDA0002530629350000082
Equation (4-3) indicates that the number of steps required to reach a given maximum speed is inversely proportional to the acceleration, and since the speed at which the motor starts to decelerate is the same when the motor accelerates to a maximum, it can be obtained:
Figure BDA0002530629350000083
so that we can change the value of acceleration by changing the value of n only. As shown in fig. 4.
For a given number of steps, the deceleration must be started at the appropriate number of steps, and the speed at the end of this must be 0.
N is obtained from the formula (4-4)1
Figure BDA0002530629350000084
As shown in fig. 5, fig. 5 is a schematic diagram of the deceleration curve in the present embodiment.
As shown in fig. 5, in the case of a given number of steps, the speed is accelerated from zero, the constant speed motion starts after reaching the predetermined maximum speed, the speed is decelerated after reaching a certain number of steps, and finally the speed curve is stopped to reach the given number of steps, which is similar to a trapezoidal change process, so that the motor can be started or stopped more smoothly to avoid the occurrence of jitter.
In fig. 5, step represents the number of steps moved, acell represents acceleration, decal represents deceleration, and speed represents maximum velocity.
In order to increase the running speed of the code, floating point operation is avoided as much as possible. Therefore, in order to improve the calculation accuracy, some data needs to be amplified and then operated. Speed, acceleration, deceleration times 100. And a plurality of constants are predefined, so that the operation process is simplified.
From the formulae (1-4), (1-5), (1-6) and (1-7)
Figure BDA0002530629350000091
Where ω is the maximum speed, expressed as speed, multiplied by 100 times, the speed can be considered in units of: 0.01tad/s, f0The frequency of the timer is represented by α as a step angle, and when n is equal to 1, a value of min _ delay can be obtained.
A_T_x100＝αft·100 (5-2)
Figure BDA0002530629350000092
Due to errors in the data estimation process, where c0This error is corrected by multiplying by 0.676.
T1_FREQ_148＝0.676ft/100 (5-4)
A_SQ＝2α·10000000000 (5-5)
The substitution of formula (5-4) and (5-5) for formula (3-7) can be found
Figure BDA0002530629350000093
Referring to FIG. 6, during acceleration, there are two scenarios for calculating the speed attribute, and FIG. 6 shows a schematic of an acceleration scenario in which the speed ramp is limited to the desired speed:
max _ s _ lim is the number of steps required to accelerate to the desired speed.
Figure BDA0002530629350000094
accel _ lim is the number of steps to start decelerating.
Figure BDA0002530629350000095
If max _ s _ lim < accel _ lim, the acceleration is limited to the maximum desired velocity. From equation (4-4) it can be deduced that the deceleration distance decel _ val should be, where the negative sign is because the direction of acceleration and deceleration is opposite.
Figure BDA0002530629350000101
Fig. 7 shows a schematic diagram of another acceleration scenario in which the number of steps performed is insufficient to accelerate to a maximum speed and deceleration is to begin.
At this time, max _ s _ lim > accel _ lim, acceleration is limited to the start of deceleration. The deceleration distance decel _ val should be (step-accel _ lim).
Referring to fig. 8, fig. 8 shows the state machines in a timer interrupt, which generates a step pulse and is entered only when the servo motor is moving, four state machines in the timer interrupt: stop, acel, run, decel, stop.
When the application program is started or the servo motor is stopped, the state machine is in a STOP state. When the input move step number setup calculation is complete, a new state is set and timer interrupt is enabled. When the running step number exceeds 1 step, the state machine enters ACCEL state, if only one step is moved, the state is directly changed into DECEL. Since moving only one step does not require acceleration. When the state changes to ACCEL, the application program accelerates the servo motor all the way to the desired maximum speed, at which point the state changes to RUN, or deceleration must begin and the state changes to DECEL. It will always remain DECEL and will slow down to the desired number of steps and speed 0. The state then changes to STOP.
Referring to fig. 9, fig. 9 is a schematic diagram illustrating four states of the operating speed of the servo motor.
A new time delay must be calculated at each step in the acceleration and deceleration process. The result of this calculation will include a coefficient and a remainder, which is retained for improved accuracy and included in the next calculation. From the formula (3-9), the formula (9-1) can be obtained, where rest is the remainder and the first calculated value is 0. The new _ rest is to save the remainder of the incomplete division for the next calculation.
Figure BDA0002530629350000102
new_rest＝(2·step_delay+rest)(mod(4·accel_count+1)) (9-2)
Some secondary count variables are necessary to keep track of the displacement when the state changes.
In FIG. 9, step _ count is the number of calculation steps, starting at zero in the ACCEL state and ending when the DECEL state is complete. The number of steps recorded should be the same as the number of steps commanded.
The accel _ count is used for controlling acceleration or deceleration. In the ACCEL state, it increases every step from zero until the ACCEL state ends. In the DECEL state, it is set to DECEL _ val and is negative, each step is incremented until it has a value of 0, the motion is over, and the state is set to STOP.
decel _ start indicates the start of deceleration. When step _ count and DECEL _ start are equal, the state is set to DECEL.
An embodiment of the present application further provides an electronic device, where the electronic device includes a processor and a memory, where the memory stores an executable program, and when the executable program runs on a computer, the computer executes the target detection method and system described in any of the above embodiments.
It should be noted that, all or part of the steps in the methods of the above embodiments may be implemented by hardware related to instructions of a computer program, which may be stored in a computer-readable storage medium, which may include, but is not limited to: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. A method for controlling the speed of AGV equipment is characterized in that: the method comprises the following steps:
the method comprises the following steps: receiving the total steps to be moved;
step two: calculating to obtain the acceleration of the motor
Figure FDA0002530629340000011
Time intervaltSpeed omeganWherein:
the calculation formula of the time interval is:
Figure FDA0002530629340000012
the calculation formula of the acceleration is:
Figure FDA0002530629340000013
the velocity calculation formula at a certain moment is as follows:
Figure FDA0002530629340000014
c0for the timer at t0And t1Count value of this period, ttIs the counting period of the timer, ttFor the counting period of the timer, the counting frequency of the timer generating the pulses is ftMotor step angle α, position θ and speed ω
Step three: calculating to obtain a motor deceleration step number acell _ lim and a deceleration distance decel _ val, wherein:
the calculation formula of the accel _ lim is as follows:
Figure FDA0002530629340000015
the calculation formula of decel _ val is as follows:
Figure FDA0002530629340000016
step is the number of steps moved, acel is the acceleration, decal is the deceleration, speed is the maximum speed, max _ s _ lim is the number of steps required to accelerate to the required speed
Step four: calculating to obtain the number of steps of the motor running at a constant speed, wherein the calculation method is that the number of the steps remained after subtracting the acceleration step number max _ s _ lim and the deceleration step number accel _ lim from the total number of steps;
step five: and generating instructions to be applied to the driver according to the acceleration step number, the acceleration, the maximum speed, the step number of constant-speed running, the deceleration and the deceleration step number obtained by the calculation in the steps, and controlling the motion of the equipment.
2. The method of claim 1, further comprising an nth pulse timer counter value cnC, c ofnThe calculation formula of (2) is as follows:
Figure FDA0002530629340000017
3. the method of claim 1, wherein the calculation of the acceleration introduces a constant of 0.676 into the calculation c0Multiplying by constant 0.676, and calculating by multiplying speed, acceleration and deceleration by certain times.
4. The method of claim 3, wherein the certain multiple is 100 times.
5. The method as claimed in claim 1, wherein when max _ s _ lim is greater than acel _ lim, the end of acceleration is limited to the start of deceleration, and the deceleration distance decel _ val is calculated by: decel _ val ═ - (step-accel _ lim).
6. The method of claim 1, wherein the moving acceleration process is discretized into a plurality of time instants, and the acceleration is calculated for each time instant
Figure FDA0002530629340000021
And velocity ωnTo obtain a motor acceleration approaching linear speed ramp.
7. A system for controlling the smooth movement of an AGV installation, comprising at least: calculation module, speed control module, AGV equipment, wherein:
the calculation module is used for executing an algorithm and calculating speed data related to the movement of the movement module, wherein the speed data comprises acceleration steps, acceleration, maximum speed, steps running at a constant speed, deceleration and deceleration steps;
the speed control module is used for generating a speed control instruction according to the speed data obtained by the calculation module and controlling the AGV equipment to move;
the AGV apparatus includes a motor and a moving part for performing a moving operation.
8. An electronic device, wherein the system comprises a processor and a memory, wherein the memory is configured to store an executable program;
the processor is configured to execute the executable program to implement the method of any one of claims 1-6.
CN202010517352.XA 2020-06-09 2020-06-09 AGV equipment speed control method and system Withdrawn CN111775716A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022099788A1 (en) * 2020-11-16 2022-05-19 深圳市科曼医疗设备有限公司 Acceleration and deceleration motion control method and apparatus, device, and medium
CN117081437A (en) * 2023-10-17 2023-11-17 深圳市恒永达科技股份有限公司 Stepping motor driving control method and device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022099788A1 (en) * 2020-11-16 2022-05-19 深圳市科曼医疗设备有限公司 Acceleration and deceleration motion control method and apparatus, device, and medium
CN117081437A (en) * 2023-10-17 2023-11-17 深圳市恒永达科技股份有限公司 Stepping motor driving control method and device

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