CN112256036A - Chassis operation control method, system and device and AGV - Google Patents
Chassis operation control method, system and device and AGV Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses an AGV trolley, a chassis operation control method, a chassis operation control system and a chassis operation control device, wherein the chassis operation control method comprises the following steps: obtaining the closing speed C of the vehicle headzChassis reference speeds x, y, z and chassis feedback speeds gyro _ w; obtaining a first chassis feedback credibility coefficient according to chassis reference speeds x, y and z; according to the closing speed C of the vehicle headzObtaining a second chassis feedback reliability coefficient according to the chassis feedback speed gyro _ w; then calculating to obtain a chassis feedback speed Cz _ fb; and controlling the chassis operation according to the chassis feedback speed Cz _ fb and the chassis reference speeds x, y and z. The chassis operation control method can realize stable control of the operation of the chassis without detection and feedback of an additional high-precision sensor and a judgment process, so that the requirements on the control calculation and storage performance of the chassis can be reduced, and the production cost can be reduced to a certain extent.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to an AGV trolley, a chassis operation control method, a chassis operation control system and a chassis operation control device.
Background
In the control application of the AGV chassis, the problem of chassis slippage is encountered, an additional gyroscope sensor is usually required for monitoring and feedback in related control, an inexpensive MEMS device is usually selected as a gyroscope, the gyroscope usually has large zero Bias Instability (Bias Instability), and the long-term use of the gyroscope can cause the difference between the direction of the front portion and the reference direction to be too large, and finally the position of the front portion of the chassis is drifted.
In order to solve the drift problem of the direction of the chassis head, the existing scheme is roughly divided into the following two types: the chassis control method comprises the steps that a multi-sensor fusion technology is used in chassis control, not only a gyroscope is used, but also an accelerometer, a chassis speed sensor, a GPS and the like are added, the data reliability fusion proportion of each sensor is adjusted through the reliability of different sensors under different working conditions and in different time periods, so that the reliable angular speed and the reliable angle of the chassis are fused, although the scheme can well inhibit the problem of chassis drifting under a single gyroscope, the multi-sensor needs higher cost and development workload, the system is complex, needs strong central processing unit performance, and can hardly be used in low-cost application. And secondly, a sensor with higher specification and an advanced data calibration compensation technology of the sensor are used in chassis control. For example, high-precision sensors such as optical fiber gyroscopes are used, and high-specification sensors do have high-specification performance, but the high price of the sensors is not generally applicable; in addition, before the gyroscope is installed and used, drift condition data under different temperatures and working conditions are recorded on the gyroscope independently, and then relevant compensation is carried out by using the data in actual use, so that the workload is very large, and batch use is almost impossible.
Therefore, how to avoid the increase of production cost caused by using the conventional control technology to control the chassis is a technical problem that needs to be solved by those skilled in the art at present.
Disclosure of Invention
The invention aims to provide an AGV trolley, a chassis operation control method, a chassis operation control system and a chassis operation control device, which can inhibit the slip of the head direction of a chassis and can reduce the requirements on the control calculation and storage performance of the chassis.
In order to achieve the above object, the present invention provides a chassis operation control method, including:
obtaining the closing speed C of the vehicle headzChassis reference speeds x, y, z and chassis feedback speeds gyro _ w;
obtaining a first chassis feedback reliability coefficient K according to the chassis reference speeds x, y and z1；
According to the closing speed C of the vehicle headzAnd obtaining a second chassis feedback reliability coefficient K according to the chassis feedback speed gyro _ w2；
According to Cz_fb＝K1*Cz+K2Calculating the gyro _ w to obtain a chassis feedback speed Cz _ fb;
and controlling the chassis to run according to the chassis reference speeds x, y and z and the chassis feedback speed Cz _ fb.
Optionally, the first chassis feedback reliability coefficient K is obtained according to the chassis reference speeds x, y and z1The method comprises the following steps:
respectively calculating the increment dv of the chassis speed according to the reference speeds x, y and z of the chassisx、dvy、dvz；
According to the chassis speed increment dvx、dvy、dvzCalculating the incremental coefficient dv of the chassist；
According to the chassis increment coefficient dvtObtaining the first chassis feedback reliability coefficient K1。
Optionally, said vehicle head closing speed according to CzAnd obtaining a second chassis feedback reliability coefficient K according to the chassis feedback speed gyro _ w2The method comprises the following steps:
calculating the closing speed C of the vehicle headzAnd an error dC of the chassis feedback speed gyro _ wz；
According to said error dCzObtaining the feedback reliability coefficient K of the second chassis2。
Optionally, the step of controlling the chassis operation according to the chassis reference speed x, y, z and the chassis feedback speed Cz _ fb comprises:
calculating the chassis head speed according to the chassis reference speeds x, y and z and the chassis feedback speed Cz _ fbDegree error err；
According to the chassis locomotive speed error errCalculating chassis control speed Uo；
Controlling the speed U according to the chassisoCalculating a first resolved velocity V of a first wheel on the chassislrefAnd a second split speed V of the second wheelrref；
According to the first decomposition speed VlrefAnd said second decomposition velocity VrrefRespectively controlling the operation of two wheels on the chassis.
The present invention also provides a chassis operation control system, comprising:
a speed acquisition module: for obtaining closing speed C of vehiclezChassis reference speeds x, y, z and chassis feedback speeds gyro _ w;
the first chassis feedback reliability coefficient acquisition module: the method is used for obtaining a first chassis feedback reliability coefficient K according to the chassis reference speeds x, y and z1；
The second chassis feedback reliability coefficient acquisition module: for according to the closing speed C of the vehiclezAnd obtaining a second chassis feedback reliability coefficient K according to the chassis feedback speed gyro _ w2；
An operation module: for according to Cz_fb＝K1*Cz+K2Calculating the gyro _ w to obtain a chassis feedback speed Cz _ fb;
a chassis control module: for controlling the chassis operation according to the chassis reference speed x, y, z and the chassis feedback speed Cz _ fb.
Optionally, the speed acquisition module includes:
a headstock closing speed acquisition unit: for obtaining the closing speed C of the vehiclez；
A chassis reference speed acquisition unit: the chassis reference speed x, y and z are obtained;
a chassis feedback speed acquisition unit: and the chassis feedback speed gyro _ w is obtained.
Optionally, the first chassis feedback reliability coefficient obtaining module includes:
the first calculation unit: for calculating a chassis speed increment dv in dependence on said chassis reference speeds x, y, z, respectivelyx、dvy、dvz；
A second calculation unit: for increasing dv in dependence on said chassis speedx、dvy、dvzCalculating the incremental coefficient dv of the chassist；
A first chassis feedback reliability coefficient acquisition unit: for determining the chassis delta coefficient dvtObtaining the first chassis feedback reliability coefficient K1。
Optionally, the second chassis feedback reliability coefficient obtaining module includes:
a third calculation unit: for calculating the closing speed C of the vehiclezAnd an error dC of the chassis feedback speed gyro _ wz；
A second chassis feedback reliability coefficient acquisition unit: for determining from said error dCzObtaining the feedback reliability coefficient K of the second chassis2。
The present invention also provides a chassis operation control device, including:
a memory for storing a computer program;
and the processor is used for realizing the steps of the chassis operation control method when executing the computer program.
The invention further provides an AGV comprising the chassis operation control device.
With respect to the above background art, the chassis operation control method provided in the embodiment of the present invention includes: obtaining the closing speed C of the vehicle headzThe chassis reference speeds x, y and z and the chassis feedback speed gyro _ w, and a first chassis feedback reliability coefficient K is obtained according to the chassis reference speeds x, y and z1According to the closing speed C of the vehicle headzObtaining a second chassis feedback reliability coefficient K according to the chassis feedback speed gyro _ w2(ii) a According to Cz_fb＝K1*Cz+K2Calculating the gyro _ w to obtain a chassis feedback speed Cz _ fb, and controlling according to the chassis reference speed x, y and z and the chassis feedback speed Cz _ fbThe chassis is operated. It can be seen that the chassis operation control method passes the headstock closing speed CzThe chassis reference speeds x, y and z and the chassis feedback speed gyro _ w can obtain two reliability coefficients aiming at chassis feedback, further can obtain a chassis feedback speed Cz _ fb according to the two reliability coefficients, and finally can control the chassis to slip according to the chassis reference speeds x, y and z and the chassis feedback speed Cz _ fb, so that the stability and the reliability of the chassis operation are ensured. Obviously, for the situation that the chassis slips when the chassis runs at a higher speed, the slip of the chassis can be inhibited by the control method for running the chassis, so that the stability and the reliability of the running of the chassis are improved to a certain extent; meanwhile, compared with a method for controlling the chassis to operate through a series of high-precision sensors and a plurality of judgment steps in the prior art, the chassis operation control method provided by the application can realize stable control of the chassis operation without detection and feedback of additional high-precision sensors and judgment processes, so that the requirements on chassis control calculation and storage performance can be reduced, and the production cost can be reduced to a certain extent.
The invention also provides a chassis operation control system, a chassis operation control device and the AGV.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a chassis operation control method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, fig. 1 is a flowchart of a chassis operation control method according to an embodiment of the present invention.
Referring to the attached fig. 1 in the specification, a chassis operation control method provided by an embodiment of the present invention includes:
s1: obtaining the closing speed C of the vehicle headzChassis reference speeds x, y, z and chassis feedback speeds gyro _ w;
s2: obtaining a first chassis feedback reliability coefficient K according to chassis reference speeds x, y and z1；
S3: according to the closing speed C of the vehicle headzObtaining a second chassis feedback reliability coefficient K according to the chassis feedback speed gyro _ w2；
S4: according to Cz_fb＝K1*Cz+K2Calculating the gyro _ w to obtain a chassis feedback speed Cz _ fb;
s5: the chassis operation is controlled based on the chassis reference speeds x, y, z and the chassis feedback speed Cz _ fb.
It should be noted that the vehicle head closing speed is a speed obtained by combining the speed of the left wheel and the speed of the right wheel on the chassis and is marked as Cz; the chassis reference speed refers to the speed X of the chassis in the X-axis direction, the speed Y in the Y-axis direction and the speed Z in the Z-axis direction; the chassis feedback speed gyro _ w refers to a chassis speed fed back in real time by a gyroscope (Z-axis gyroscope).
It can be seen that the chassis operation control method passes the headstock closing speed CzTwo reliability coefficients aiming at chassis feedback can be obtained through the chassis reference speeds x, y and z and the chassis feedback speed gyro _ w, the chassis feedback speed Cz _ fb can be further obtained according to the two reliability coefficients, and finally the chassis feedback speed Cz _ fb is obtained according to the bottomThe disc reference speeds x, y, z and the chassis feedback speed Cz _ fb can control the chassis slip, thereby ensuring the stability and reliability of the chassis operation. Obviously, in the case that the chassis slips when the chassis is operated at a relatively high speed, the slip of the chassis can be suppressed by the above control method of the chassis operation, thereby improving the stability and reliability of the chassis operation to a certain extent.
Compared with the method for controlling the chassis to operate through a series of high-precision sensors and a plurality of judgment steps in the prior art, the chassis operation control method provided by the application can realize stable control of the chassis operation without detection and feedback of additional high-precision sensors and judgment processes, so that the requirements on chassis control calculation and storage performance can be reduced, and the production cost can be reduced to a certain extent.
Aiming at the step S1, acquiring a vehicle head closing speed Cz, specifically, taking a simplest two-wheel differential chassis as a control model, and synthesizing the speeds of a left wheel and a right wheel to be used as the vehicle head closing speed; acquiring the chassis reference speed specifically may acquire the reference speeds x, y, z of the chassis X, Y, Z in the three-axis direction through a chassis controller; acquiring the chassis feedback speed gyro _ w refers to the heading speed fed back by a Z-axis gyroscope preset on the chassis.
Specifically, the method for acquiring the locomotive closing speed comprises the following steps: let the left wheel speed be Vl, the right wheel speed be Vr, the distance between two wheels be L, then, according to
And calculating the locomotive closing speed Cz. Of course, according to actual needs, when the chassis has two groups (four) of wheels, the combined speed of the two groups of wheels can be calculated through the formula, and then the vehicle head combined speed is obtained by calculating the average value of the two groups of data.
Aiming at the step S2, a first chassis feedback reliability coefficient K is obtained according to the chassis reference speeds x, y and z1The method comprises the following steps:
firstly, respectively calculating the increment dv of the chassis speed according to the reference speeds x, y and z of the chassisx、dvy、dvz；
Second, based on the chassis speed increment dvx、dvy、dvzCalculating the incremental coefficient dv of the chassist；
Thirdly, according to the chassis increment coefficient dvtObtaining a first chassis feedback reliability coefficient K1. Specifically, the chassis reference speed of the first time of issuing by the chassis controller is recorded as x1、y1、z1The chassis reference speed issued by the chassis controller for the second time is x2、y2、z2According to the following:
dvx＝abs(x2-x1)；
dvy＝abs(y2-y1)；
dvz＝abs(z2-z1)；
thereby calculating the chassis speed increment dvx、dvy、dvz。
Then according to the following steps:
dvt＝dvx+dvy+dvz；
calculating to obtain a chassis increment coefficient dvt。
Further, by a chassis increment factor dvtThe first chassis feedback reliability coefficient K can be obtained by table look-up1. It should be noted that, the simplest table lookup method is selected here to find the corresponding coefficient value, and the data in the table is derived from the data calibrated by the previous user, which is real and reliable. Of course, this may be done in other ways, and is not further expanded herein.
For step S3, according to the closing speed C of the vehiclezObtaining a second chassis feedback reliability coefficient K according to the chassis feedback speed gyro _ w2The method comprises the following steps: first, the closing speed C of the vehicle head is calculatedzAnd error dC of chassis feedback speed gyro _ wz(ii) a Then, according to the error dCzObtaining a second chassis feedback reliability coefficient K2。
Specifically, according to the formula:
dCz＝abs(gyro_w-Cz)
error dC of headstock closing speed and chassis feedback speed is obtained through calculationz。
Further, error dC through nose closing speed and chassis feedback speedzThe corresponding second chassis feedback reliability coefficient K can be obtained by table look-up2. The simplest table look-up method is selected to search the corresponding coefficient value, and data in the table is derived from data calibrated by a user at the early stage, so that the method is real and reliable.
For step S5, the step of controlling the chassis operation based on the chassis reference speed x, y, z and the chassis feedback speed Cz _ fb comprises:
firstly, calculating a chassis locomotive speed error e according to a chassis reference speed z and a chassis feedback speed Cz _ fbrr；
Secondly, according to the speed error e of the chassis locomotiverrCalculating chassis control speed Uo；
Thirdly, controlling the speed U according to the chassisoCalculating a first resolved velocity V of a first wheel on the chassislrefAnd a second split speed V of the second wheelrref
A fourth step of decomposing the first decomposition rate VlrefAnd a second decomposition velocity VrrefRespectively controlling the operation of two wheels on the chassis.
More specifically, various closed-loop control schemes can be selected for controlling the chassis operation, and in the embodiment of the invention, the simplest PID controller is selected for control:
by error calculation:
err＝z-Cz_fb；
wherein e isrrIs chassis headstock speed error;
the proportional control coefficient of the PID controller is KpAn integral coefficient of KiAnd a differential coefficient of Kd；
Then according to
Calculating chassis control speed Uo。
Generally, the speed decomposition operation can be performed by a speed decomposition module/unit in the chassis controller. In particular, according to Vlref＝x-UoL/2 calculating a first resolved velocity V of a first wheel on the chassislref(ii) a According to Vrref＝x+UoL/2 calculating the decomposition velocity V of a second wheel on the chassisrref；
Wherein, VlrefIs the reference speed, V, of the first wheel (left wheel) on the chassisrrefIs the reference speed of the second wheel (right wheel), X is the reference speed of the chassis in the X-axis direction, L is the distance between the first wheel and the second wheel, UoSpeed is controlled for the chassis.
It should be noted that the speed decomposition process is designed by using a two-wheel differential chassis as a control model, and the speed decomposition process can be adjusted according to different chassis models, that is, different speed decomposition methods are designed according to different chassis models, for example, when the chassis has two groups (four) of wheels, the decomposition speeds of the two groups of wheels can be calculated by the above formula.
An embodiment of the present invention further provides a chassis operation control system, including:
a speed acquisition module: for obtaining closing speed C of vehiclezChassis reference speeds x, y, z and chassis feedback speeds gyro _ w;
the first chassis feedback reliability coefficient acquisition module: used for obtaining a first chassis feedback reliability coefficient K according to chassis reference speeds x, y and z1；
The second chassis feedback reliability coefficient acquisition module: for according to closing speed C of vehicle headzObtaining a second chassis feedback reliability coefficient K according to the chassis feedback speed gyro _ w2；
An operation module: for according to Cz_fb＝K1*Cz+K2Calculating the gyro _ w to obtain a chassis feedback speed Cz _ fb;
a chassis control module: for controlling chassis operation in dependence on the chassis reference speeds x, y, z and the chassis feedback speed Cz _ fb.
Further, the speed acquisition module comprises:
a headstock closing speed acquisition unit: for obtaining closing speed C of vehiclez；
A chassis reference speed acquisition unit: the method comprises the steps of obtaining chassis reference speeds x, y and z;
a chassis feedback speed acquisition unit: for obtaining the chassis feedback speed gyro _ w.
In addition, the first chassis feedback reliability coefficient obtaining module includes:
the first calculation unit: for calculating the chassis speed increment dv from the chassis reference speeds x, y, z, respectivelyx、dvy、dvz；
A second calculation unit: for increasing dv in accordance with chassis speedx、dvy、dvzCalculating the incremental coefficient dv of the chassist；
A first chassis feedback reliability coefficient acquisition unit: for determining the incremental coefficient dv of the chassistObtaining a first chassis feedback reliability coefficient K1。
Furthermore, the second chassis feedback reliability coefficient acquisition module includes:
a third calculation unit: for calculating the closing speed C of the vehiclezAnd error dC of chassis feedback speed gyro _ wz；
A second chassis feedback reliability coefficient acquisition unit: for according to error dCzObtaining a second chassis feedback reliability coefficient K2。
An embodiment of the present invention further provides a chassis operation control device, including:
a memory for storing a computer program;
and the processor is used for realizing the steps of the chassis operation control method when executing the computer program.
Specifically, the memory includes a nonvolatile storage medium, an internal memory. The non-volatile storage medium stores an operating system and computer-readable instructions, and the internal memory provides an environment for the operating system and the computer-readable instructions in the non-volatile storage medium to run. The processor, which in some embodiments may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor or other data Processing chip, provides computing and control capabilities for the chassis operation control device.
On the basis of the above embodiment, as a preferred embodiment, the chassis operation control device further includes:
and the input interface is connected with the processor and used for acquiring computer programs, parameters and instructions imported from the outside and storing the computer programs, the parameters and the instructions into the memory under the control of the processor. The input interface may be coupled to an input device for receiving parameters or instructions manually input by a user. The input device may be a touch layer covered on a display screen, or a button, a track ball or a touch pad arranged on a terminal shell, or a keyboard, a touch pad or a mouse, etc.
And the display unit is connected with the processor and is used for displaying the data processed by the processor and displaying the visual user interface. The display unit may be an LED display, a liquid crystal display, a touch-controlled liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, and the like.
And the network port is connected with the processor and is used for carrying out communication connection with each external terminal device. The communication technology adopted by the communication connection can be a wired communication technology or a wireless communication technology, such as a mobile high definition link (MHL) technology, a Universal Serial Bus (USB), a High Definition Multimedia Interface (HDMI), a wireless fidelity (WiFi), a bluetooth communication technology, a low power consumption bluetooth communication technology, an ieee802.11 s-based communication technology, and the like.
It will be appreciated by those skilled in the art that the chassis operation control arrangement may include fewer or more components than those described above, or some components may be combined, or a different arrangement of components.
The present application also provides a computer-readable storage medium, which may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk. The storage medium stores thereon a computer program, and the computer program, when executed by the processor, implements the steps of the chassis operation control method provided by the above-described embodiments.
The AGV comprises a chassis operation control device described in the specific embodiment; other parts of the AGV car can be referred to in the prior art and are not expanded herein.
It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The chassis operation control method, the chassis operation control system, the chassis operation control device and the AGV provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are provided only to help understand the concepts of the present invention and the core concepts thereof. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A chassis operation control method characterized by comprising:
obtaining the closing speed C of the vehicle headzChassis reference speeds x, y, z and chassis feedback speeds gyro _ w;
obtaining a first chassis feedback reliability coefficient K according to the chassis reference speeds x, y and z1；
According to the closing speed C of the vehicle headzAnd obtaining a second chassis feedback reliability coefficient K according to the chassis feedback speed gyro _ w2；
According to Cz_fb＝K1*Cz+K2Calculating the gyro _ w to obtain a chassis feedback speed Cz _ fb;
and controlling the chassis to run according to the chassis reference speeds x, y and z and the chassis feedback speed Cz _ fb.
2. The chassis operation control method according to claim 1, wherein the obtaining of the first chassis feedback reliability coefficient K is based on the chassis reference speeds x, y, z1The method comprises the following steps:
respectively calculating the increment dv of the chassis speed according to the reference speeds x, y and z of the chassisx、dvy、dvz；
According to the chassis speed increment dvx、dvy、dvzCalculating the incremental coefficient dv of the chassist；
According to the chassis increment coefficient dvtObtaining the first chassis feedback reliability coefficient K1。
3. The chassis operation control method as claimed in claim 1, wherein the vehicle closure speed C is a function of the vehicle closure speedzAnd obtaining a second chassis feedback reliability coefficient K according to the chassis feedback speed gyro _ w2The method comprises the following steps:
calculating the closing speed C of the vehicle headzAnd an error dC of the chassis feedback speed gyro _ wz；
According to said error dCzObtaining the feedback reliability coefficient K of the second chassis2。
4. The chassis running control method according to any one of claims 1 to 3, wherein the step of controlling the running of the chassis based on the chassis reference speeds x, y, z and the chassis feedback speed Cz _ fb comprises:
calculating a chassis headstock speed error e according to the chassis reference speeds x, y and z and the chassis feedback speed Cz _ fbrr；
According to the chassis locomotive speed error errCalculating chassis control speed Uo；
Controlling the speed U according to the chassisoCalculating a first resolved velocity V of a first wheel on the chassislrefAnd a second split speed V of the second wheelrref；
According to the firstDecomposition velocity VlrefAnd said second decomposition velocity VrrefRespectively controlling the operation of two wheels on the chassis.
5. A chassis operation control system, comprising:
a speed acquisition module: for obtaining closing speed C of vehiclezChassis reference speeds x, y, z and chassis feedback speeds gyro _ w;
the first chassis feedback reliability coefficient acquisition module: the method is used for obtaining a first chassis feedback reliability coefficient K according to the chassis reference speeds x, y and z1；
The second chassis feedback reliability coefficient acquisition module: for according to the closing speed C of the vehiclezAnd obtaining a second chassis feedback reliability coefficient K according to the chassis feedback speed gyro _ w2；
An operation module: for according to Cz_fb＝K1*Cz+K2Calculating the gyro _ w to obtain a chassis feedback speed Cz _ fb;
a chassis control module: for controlling the chassis operation according to the chassis reference speed x, y, z and the chassis feedback speed Cz _ fb.
6. The chassis operation control system of claim 5, wherein the speed acquisition module comprises:
a headstock closing speed acquisition unit: for obtaining the closing speed C of the vehiclez；
A chassis reference speed acquisition unit: the chassis reference speed x, y and z are obtained;
a chassis feedback speed acquisition unit: and the chassis feedback speed gyro _ w is obtained.
7. The chassis operation control system according to claim 5, wherein the first chassis feedback reliability coefficient acquisition module includes:
the first calculation unit: for calculating a chassis speed increment dv in dependence on said chassis reference speeds x, y, z, respectivelyx、dvy、dvz；
A second calculation unit: for increasing dv in dependence on said chassis speedx、dvy、dvzCalculating the incremental coefficient dv of the chassist；
A first chassis feedback reliability coefficient acquisition unit: for determining the chassis delta coefficient dvtObtaining the first chassis feedback reliability coefficient K1。
8. The chassis operation control system according to claim 5, wherein the second chassis feedback reliability coefficient acquisition module includes:
a third calculation unit: for calculating the closing speed C of the vehiclezAnd an error dC of the chassis feedback speed gyro _ wz；
A second chassis feedback reliability coefficient acquisition unit: for determining from said error dCzObtaining the feedback reliability coefficient K of the second chassis2。
9. A chassis operation control device characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the chassis operation control method according to any one of claims 1 to 4 when executing the computer program.
10. An AGV trolley comprising the chassis operation control apparatus according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011209693.7A CN112256036B (en) | 2020-11-03 | 2020-11-03 | Chassis operation control method, system and device and AGV trolley |
Applications Claiming Priority (1)
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