JPH01161414A - Automatic steering control system - Google Patents
Automatic steering control systemInfo
- Publication number
- JPH01161414A JPH01161414A JP62320018A JP32001887A JPH01161414A JP H01161414 A JPH01161414 A JP H01161414A JP 62320018 A JP62320018 A JP 62320018A JP 32001887 A JP32001887 A JP 32001887A JP H01161414 A JPH01161414 A JP H01161414A
- Authority
- JP
- Japan
- Prior art keywords
- steering
- course
- value
- traveling
- lateral displacement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Landscapes
- Steering Controls (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は直線および円弧形状の組み合わせにより形成さ
れるコース上を走行する無人搬送車の自動操舵制御方式
に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic steering control system for an automatic guided vehicle that travels on a course formed by a combination of straight lines and arc shapes.
従来の操舵輪により操舵を行なう無人搬送車における自
動操舵制御方式では、走行コースとの偏差を検出してフ
ィードバックする他に操舵状態として操舵角と車体角速
度を検出してフィードバックし、総フィードバック逍と
目標値の偏差より操舵モータの回転速度指令値を演算・
出力することによって自動操舵制御Ｊ■を行っているが
、走行コースの形状が直線でも円弧でも操舵状態のフィ
ードバックを同じ形態で行っているため、円弧形状の走
行コース上で走行コースとの偏差がゼロとなった時に車
体が直進状態になり、すくに走行コースとの偏差が生じ
結果として一定の横変位を生じたまま円弧形状のコース
を走行するという問題点があった。また、この問題点を
少な（するために円弧形状の走行コース上で横変位のフ
ィードパ、クゲインを大きくしても、横変位は完全には
なくならず、ゲインを大きくすることによる不安定現象
が生じるという問題点があった。In conventional automatic steering control systems for automated guided vehicles that use steering wheels to perform steering, in addition to detecting deviations from the traveling course and feeding them back, the steering angle and vehicle angular velocity are also detected and fed back as steering conditions, and the total feedback Calculates the rotation speed command value of the steering motor from the deviation of the target value.
Automatic steering control J■ is performed by outputting the output, but since feedback of the steering status is performed in the same form regardless of whether the shape of the driving course is a straight line or an arc, deviations from the driving course on an arc-shaped driving course are There was a problem in that when the vehicle reached zero, the vehicle went straight and there was a deviation from the traveling course, resulting in the vehicle traveling on an arc-shaped course with a certain lateral displacement. In addition, even if the lateral displacement feed gain and gain are increased on an arc-shaped running course to minimize this problem, the lateral displacement will not be completely eliminated, and increasing the gain will cause instability. There was a problem that occurred.
本発明は、これらの問題点を解決するため、円弧形状の
走行コース上では操舵状態のフィードバックからコース
の曲率半径および走行速度に応じたオフセット量を差し
引く処理を導入したことを特徴とし、その目的は円弧形
状の走行コースにおいても直線形状の走行コース上と同
様の安定かつ精度の良い自動操舵制御が行なえるように
することにある。In order to solve these problems, the present invention is characterized by introducing a process that subtracts an offset amount according to the radius of curvature of the course and the running speed from the feedback of the steering condition on an arc-shaped running course. The object of the present invention is to enable stable and accurate automatic steering control to be performed even on an arc-shaped running course as well as on a straight-line running course.
第１図は本発明が適用される操舵輪により操舵を行なう
無人搬送車の一例であり、円弧形状の走行コース上を走
行コースとの偏差がゼロの状態で走行している状態を示
している。１は無人搬送車の車体（以下車体とする。）
、２は操舵輪、３は固定輪（操舵を行なわない車輪）で
ある。FIG. 1 is an example of an automatic guided vehicle to which the present invention is applied, which is steered by a steering wheel, and shows a state in which the vehicle is traveling on an arc-shaped travel course with zero deviation from the travel course. . 1 is the body of the automated guided vehicle (hereinafter referred to as the vehicle body).
, 2 are steered wheels, and 3 are fixed wheels (wheels that are not steered).
第１図の状態において車体ｌは操舵角も、車体角速度ω
、を発生していなければならず、これらは走行コースの
曲率半径Ｒ１走行速度Ｖ、ホイールベースＬより（１）
式、 （２）式のように表わされる。In the state shown in Fig. 1, the vehicle body l has a steering angle of ω and a vehicle angular velocity ω
, must be generated, and these are (1) from the radius of curvature R1 of the driving course, the driving speed V, and the wheel base L.
Equation (2) is expressed as follows.
究＝’ｒａ ｎ−’ （−） ・・・・・−−一
−・−−（１）■
・−一一−−−−・・・−・ （２）第２図は本発明
を第１図のような操舵輪により操舵を行う車体に適用し
た場合の自動操舵側？ｆｆ１ｌ系ブロック線図の一例で
あり、４は操舵モータ・モータコントローラ・減速機構
および操舵輪等で構成される操舵機構、ｌは横変位、ε
は横変位２゜車体１の進行距離りによる横変位の積分値
ｆ１・ｄＤ、横変位ｌの時間微分値ｄ ７！／ｄ ｔお
よび姿勢角ψまたは車体１の進行路、ｖＩＤによる横変
位ｌの微分値ｄ１／ｄＤの各検出値にゲインＧＮ、Ｇｓ
１．ＧＡ、Ｇψを乗じて各々を加算した値で表現される
走行コースの偏差のフィードバック量、ψは操舵角、帆
は操舵角のオフセント量、ωは車体角速度、ω、は車体
角速度のオフセット量、Ｇψは操舵角のフィードバック
ゲイン、Ｇωは車体角速度のフィードバックゲイン、Ｓ
は操舵指令値（操舵モータ回転速度指令値）である。='ra n-' (-) ・・・−−１−・−−(1) ■ ・−１１−−−−・・・−・ (2) Figure 2 shows the present invention What is the automatic steering side when applied to a car body that is steered by steering wheels as shown in Figure 1? This is an example of a block diagram of the ff1l system, where 4 is a steering mechanism composed of a steering motor, a motor controller, a deceleration mechanism, a steering wheel, etc., l is a lateral displacement, and ε
is the integral value f1·dD of the lateral displacement due to the lateral displacement 2°, the traveling distance of the vehicle body 1, and the time differential value of the lateral displacement l 7! Gains GN and Gs are applied to each detected value of the differential value d1/dD of the lateral displacement l by /d t and the attitude angle ψ or the traveling path of the vehicle body 1 and vID.
1. The amount of feedback of the deviation of the driving course expressed as the value obtained by multiplying GA and Gψ and adding each, ψ is the steering angle, the sail is the offset amount of the steering angle, ω is the vehicle angular velocity, ω is the offset amount of the vehicle angular velocity, Gψ is the steering angle feedback gain, Gω is the vehicle body angular velocity feedback gain, S
is a steering command value (steering motor rotation speed command value).
第２図の自動操舵制御系では操舵指令値（操舵モータ回
転速度指令値）Ｓは（３）式のように表される。In the automatic steering control system shown in FIG. 2, the steering command value (steering motor rotational speed command value) S is expressed as in equation (3).
（３）式において走行コースとの偏差εがゼロのとき、
操舵角検出値ψがオフセット量モと等しく、車体角速度
ωの検出値がオフセット量ω、と等しくなれば、操舵指
令値Ｓがゼ９となり操舵輪２が静止する。従って走行コ
ースが直線形状のときは、汎、ω、ともゼロ、円弧形状
のときは引ω、を各々（１）式（２）式のような走行コ
ースの曲線半径と走行速度に応じた値のオフセット量と
すれば、走行コースが、直線形状でも円弧形状同様の安
定かつ精度のよい自動操舵制御が行なえる。In equation (3), when the deviation ε from the running course is zero,
When the detected steering angle value ψ is equal to the offset amount M and the detected value of the vehicle angular velocity ω is equal to the offset amount ω, the steering command value S becomes 9 and the steered wheels 2 come to rest. Therefore, when the running course is a straight line, both the general and ω are zero, and when it is an arc, the subtraction ω is a value corresponding to the curve radius and running speed of the running course as shown in equations (1) and (2). With an offset amount of , automatic steering control can be performed with the same stability and precision as in the case of a circular arc even if the travel course is a straight line.
（１）弐〜（３）式の演算はコンピュータによる演算も
しくは電気回路等による同等演算で処理される。また、
オフセット量の値を走行コースが直線形状の場合と円弧
形状の場合で変更するために、車体の直線形状の走行コ
ース、円弧形状の走行コース間の移行時期を知る必要が
あるが、これは、左右固定輪の回転数をエンコーダ等で
検出した値から車***置をコンピュータ等で演算するこ
とによって、あるいは走行コース上に埋設した磁石と磁
気センサで検出する等の方法によって行なえる。The calculations in equations (1)2 to (3) are processed by a computer or equivalent calculations by an electric circuit or the like. Also,
In order to change the value of the offset amount depending on whether the driving course is linear or arcuate, it is necessary to know the timing of transition between the linear and arcuate driving courses of the vehicle body. This can be done by calculating the vehicle body position using a computer or the like based on the rotational speed of the left and right fixed wheels detected by an encoder or the like, or by detecting the position using a magnet and a magnetic sensor buried in the running course.
以上説明したように円弧形状の走行コース上において、
車体にコースの曲率半径と走行速度に応じた操舵状態（
操舵角、車体角速度）を生じさせることができるため、
直線形状の走行コース上と同様の安定かつ精度のよい自
動操舵制御が行なえる利点がある。As explained above, on the arc-shaped driving course,
The vehicle body has a steering condition (
steering angle, vehicle body angular velocity).
This has the advantage that automatic steering control can be performed with the same stability and precision as on a straight course.
第１図は本発明が適用される操舵輪により操舵を行う車
体の一例、第２図は本発明を第１図のような車体に通用
した場合の自動操舵制御系ブロック線図の一例である。
１・・・・・・・−・車体 ２・−・・・・−・操舵輪
３−・・・・・・・・固定輪 φ・−・・・・・姿勢
角４ ・−操舵機構
手 続 ネ甫 正 書（方 式）
１．事件の表示 昭和６２年特許願第３２００１８号
２、発明の名称 自動操舵制御方式
３、補正をする者
事件との関係 特許出願人
住 所 ■６１７京都府長岡京市東神足２丁目１番１号
名 称 日本輸送機株式会社代表者 山岡錬
太部
４、代理人FIG. 1 is an example of a vehicle body that is steered by steering wheels to which the present invention is applied, and FIG. 2 is an example of an automatic steering control system block diagram when the present invention is applied to a vehicle body as shown in FIG. . 1... Vehicle body 2... Steering wheel 3... Fixed wheel φ... Attitude angle 4 Steering mechanism hand Continuing Nefu official writing (method) 1. Indication of the case Patent Application No. 320018 of 1988 2, Title of the invention Automatic steering control system 3, Person making the amendment Relationship to the case Patent applicant address ■617 2-1-1 Higashijintari, Nagaokakyo City, Kyoto Prefecture Name Name Nippon Yusoki Co., Ltd. Representative: Rentabe Yamaoka 4, Agent
Claims (1)
による微分値、横変位の時間微分値、姿勢角、横変位の
進行距離による積分値を種々の組合わせで検出し、さら
に操舵状態として操舵角と車体角速度を検出してフィー
ドバックし、総フィードバック量と目標値の偏差より操
舵モータの回転速度指令値を演算・出力することによっ
て、操舵輪により自動操舵制御している無人搬送車にお
いて、円弧形状の走行コースを走行する際に操舵状態の
フィードバックである操舵角、車体角速度からコースの
曲率半径と走行速度に応じたオフセット量を差し引いて
フィードバックすることにより、円弧形状の走行コース
上においても直線形状の走行コース上と同様の安定かつ
精度の良い自動操舵制御を行なうことを特徴とする自動
操舵制御方式。As a deviation from the driving course, lateral displacement, the differential value of the lateral displacement by the traveling distance, the time differential value of the lateral displacement, the attitude angle, and the integral value by the traveling distance of the lateral displacement are detected in various combinations. By detecting and feeding back the angle and vehicle angular velocity, and calculating and outputting the rotational speed command value of the steering motor from the deviation between the total amount of feedback and the target value, automatic guided vehicles that are automatically steered by the steering wheel can control circular arcs. By subtracting the offset amount according to the radius of curvature of the course and the traveling speed from the steering angle and vehicle angular velocity, which are feedback of the steering condition when driving on a circular-shaped driving course, the steering angle and vehicle body angular velocity are fed back. An automatic steering control system that is characterized by performing automatic steering control with the same stability and precision as on a shaped driving course.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62320018A JPH07101369B2 (en) | 1987-12-17 | 1987-12-17 | Automatic steering control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62320018A JPH07101369B2 (en) | 1987-12-17 | 1987-12-17 | Automatic steering control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01161414A true JPH01161414A (en) | 1989-06-26 |
| JPH07101369B2 JPH07101369B2 (en) | 1995-11-01 |
Family
ID=18116835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62320018A Expired - Lifetime JPH07101369B2 (en) | 1987-12-17 | 1987-12-17 | Automatic steering control system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07101369B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996015483A1 (en) * | 1994-11-10 | 1996-05-23 | Komatsu Ltd. | Guidance system for vehicle |
| AU672731B2 (en) * | 1989-12-11 | 1996-10-10 | Caterpillar Inc. | Integrated vehicle positioning and navigation system, apparatus and method |
| JP2011150540A (en) * | 2010-01-21 | 2011-08-04 | Ihi Aerospace Co Ltd | Route generation device and method, and moving device including the route generation device |
| CN103170976A (en) * | 2013-03-13 | 2013-06-26 | 西北工业大学 | Two-freedom-degree robot motion control method |
| CN109552417A (en) * | 2018-12-27 | 2019-04-02 | 华晟（青岛）智能装备科技有限公司 | A kind of calibration method and system of driving wheel angle zero bias |
-
1987
- 1987-12-17 JP JP62320018A patent/JPH07101369B2/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU672731B2 (en) * | 1989-12-11 | 1996-10-10 | Caterpillar Inc. | Integrated vehicle positioning and navigation system, apparatus and method |
| WO1996015483A1 (en) * | 1994-11-10 | 1996-05-23 | Komatsu Ltd. | Guidance system for vehicle |
| GB2309556A (en) * | 1994-11-10 | 1997-07-30 | Komatsu Mfg Co Ltd | Guidance system for vehicle |
| AU687270B2 (en) * | 1994-11-10 | 1998-02-19 | Komatsu Limited | Guidance system for vehicle |
| US5781870A (en) * | 1994-11-10 | 1998-07-14 | Komatsu Ltd. | Vehicle steering angle control device |
| JP2011150540A (en) * | 2010-01-21 | 2011-08-04 | Ihi Aerospace Co Ltd | Route generation device and method, and moving device including the route generation device |
| CN103170976A (en) * | 2013-03-13 | 2013-06-26 | 西北工业大学 | Two-freedom-degree robot motion control method |
| CN109552417A (en) * | 2018-12-27 | 2019-04-02 | 华晟（青岛）智能装备科技有限公司 | A kind of calibration method and system of driving wheel angle zero bias |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07101369B2 (en) | 1995-11-01 |
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