CN108454610A - Path following control device and method, the unmanned trolley of unmanned trolley - Google Patents
Path following control device and method, the unmanned trolley of unmanned trolley Download PDFInfo
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- CN108454610A CN108454610A CN201710096140.7A CN201710096140A CN108454610A CN 108454610 A CN108454610 A CN 108454610A CN 201710096140 A CN201710096140 A CN 201710096140A CN 108454610 A CN108454610 A CN 108454610A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses the path tracking control method of unmanned trolley, first, left and right wheels driving voltage is obtained according to the state equation (1) of the left and right wheels driving voltage of unmanned trolley and the steering angle of unmanned trolley；Later, it obtains control voltage analog using the linear relationship of left and right wheels driving voltage and control voltage analog and is input to electric machine controller；Finally, the left and right wheels driving voltage, the tracing control of realizing route are controlled according to the control voltage analog by electric machine controller.According to the path tracking control method, quick and smooth correction can be carried out to relatively large deviation present in driving process, realizes accurately path following control.
Description
Technical field
The present invention relates to automobile navigation technology and vehicle automation fields, and in particular to the path of unmanned trolley with
Track control device and method, unmanned trolley.
Background technology
Unmanned trolley (Automated Driving Vehicle, abbreviation ADV) is a kind of autonomous driving, unmanned behaviour
It is vertical, using battery as the automatic transportation equipment of power, equipped with the non-contact auto-guider such as electromagnetic or optical and independently seek
Location system.Its main feature shows as having the function of programmable functions, safety guard, start stop apparatus and removes load, and
It can automatically be travelled along preset guide path according to given beginning and end, arrive safe and sound mesh under the monitoring of host computer
Ground, complete carry unloading task.It has become warehouse logistics automated system, flexible production line, Flexible assembling line weight
Want equipment.
Whether the practicality of unmanned trolley, it is mainly reflected in the accuracy of path following control, this is ADV control technologies
Key.Path following control refers to making ADV follow under the guide of path planning by the determining position coordinates that navigate
The control process of desired trajectory traveling.It relies on algorithm poor by controller output voltage, eliminates the angle in ADV driving processes
Deviation and range deviation so that ADV can be travelled by predefined paths.
For the ADV of different driving mode, since its kinematics model is different, corresponding Trajectory Tracking Control
Algorithm is also different, and the tracking operation of two-wheel drive voltage realizing route is mainly turned to or changed by adjusting steering engine,
So that ADV is travelled along desired trajectory.Guiding control for wired, the deviation of trolley is because there is guided path in movement
In the presence of departure can be specified, therefore control problem can be easily solved, and the guiding of wireless type is controlled, do not known
Property, complexity, it is non-linear the features such as make ADV control increase difficulty.The use of more control method is at present genetic algorithm control
System, pattern-recognition control, fuzzy and ANN Control etc., but above-mentioned control method algorithm complexity is high, response speed is slow, suitable
It is poor with property, it cannot be satisfied the accurate requirement of tracing control.
Invention content
The present invention makes in view of the above-mentioned problems in the prior art, and its purpose is to provide one kind can be right
The unmanned trolley that relatively large deviation present in driving process carries out quick and smooth correction, realizes accurately path following control
Path tracking control method and device and unmanned trolley.
The path tracking control method of the unmanned trolley of the present invention for achieving the above object, first, under
The left and right wheels driving voltage of the unmanned trolley in face and the state equation (1) of the steering angle of unmanned trolley obtain left and right wheels
Driving voltage,
Wherein, ULFor revolver driving voltage, URFor right wheel driving voltage, U0It is for straight-line travelling voltage, α under present speed
Steering angle, L are left and right sidesing driving wheel spacing, TmFor time constant of electric motors, K is back emf coefficient, and t is run duration, T hereinmElectricity
Machine time constant is motor from starting to the time undergone when rotating speed reaches the 63.2% of no-load speed, wherein | α | value
Ranging from 0~π, K value range are 1.6~2.4；
Later, control voltage analog is obtained simultaneously using the linear relationship of left and right wheels driving voltage and control voltage analog
It is input to electric machine controller；
Finally, the left and right wheels driving voltage is controlled according to the control voltage analog by electric machine controller, realizes road
The tracing control of diameter.
Further, according to | α | different values, dynamic adjusts K values, specific as follows：
(1) as | α | when=0~π/6, K=1.8；
(2) as | α | when=π/6~pi/2, K=1.6+1.2* | α |/π；
(3) as | α | when=pi/2~π, K=2+0.4* | α |/π.
The path following control device of the unmanned trolley of the present invention for achieving the above object, including：
Driving voltage computing unit, according to the left and right wheels driving voltage of following unmanned trolley and unmanned trolley
The state equation (1) of steering angle obtain left and right wheels driving voltage,
Wherein, ULFor revolver driving voltage, URFor right wheel driving voltage, U0It is for straight-line travelling voltage, α under present speed
Steering angle, L are left and right sidesing driving wheel spacing, TmFor time constant of electric motors, K is back emf coefficient, and t is run duration, T hereinmElectricity
Machine time constant is motor from starting to the time undergone when rotating speed reaches the 63.2% of no-load speed, wherein | α | value
Ranging from 0~π, K value range are 1.6~2.4；
Voltage analog computing unit is controlled, is obtained using left and right wheels driving voltage and the linear relationship of control voltage analog
To control voltage analog and it is input to electric machine controller；And
Electric machine controller controls the left and right wheels driving voltage according to the control voltage analog inputted.
Further, according to | α | different values, dynamic adjusts K values, specific as follows：
(1) as | α | when=0~π/6, K=1.8；
(2) as | α | when=π/6~pi/2, K=1.6+1.2* | α |/π；
(3) as | α | when=pi/2~π, K=2+0.4* | α |/π.
The unmanned trolley of the present invention for achieving the above object includes small vehicle main body and above-mentioned unmanned small
The path following control device of vehicle guides tracking trolley path by above-mentioned path tracking control method automatically.
Unmanned trolley navigation system through the invention and method, can be to relatively large deviation present in driving process
It carries out quick and smooth correction, realize accurately path following control.
The present invention has the advantages that being easily understood, complexity is low, and responsiveness is high, strong applicability, can be in ADV driving paths
Existing relatively large deviation is quickly corrected, the accurate tracing control of realizing route.
Description of the drawings
Fig. 1 is the block diagram of the path following control device for the unmanned trolley for showing first embodiment.
Fig. 2 is the flow chart of the path tracking control method for the unmanned trolley for showing first embodiment.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
The unmanned trolley suitable for indoor and outdoor of the present invention include small vehicle main body and unmanned trolley path with
Track control device 100.
In the following, illustrating the path following control device and its tracking and controlling method of unmanned trolley in conjunction with attached drawing
One preferred embodiment.
Fig. 1 is the block diagram of the path following control device for the unmanned trolley for showing first embodiment.
As shown in Figure 1, the path following control device 100 of the unmanned trolley of the present embodiment, including driving voltage meter
Calculate unit 110, control voltage analog computing unit 120 and electric machine controller 130.
Wherein, driving voltage computing unit 110, according to the left and right wheels driving voltage of following unmanned trolley and nobody
The state equation (1) for driving the steering angle of trolley obtains left and right wheels driving voltage.
Wherein, ULFor revolver driving voltage, URFor right wheel driving voltage, U0It is for straight-line travelling voltage, α under present speed
Steering angle, L are left and right sidesing driving wheel spacing, TmFor time constant of electric motors, K is back emf coefficient, and t is run duration.T hereinmElectricity
Machine time constant is motor from starting to the time undergone when rotating speed reaches the 63.2% of no-load speed.
Wherein, preferably | α | value range is 0~π, and K value ranges are 1.6~2.4.Further preferred basis | α | no
Same value, dynamic adjusts K values, specific as follows：
(1) as | α | when=0~π/6, K=1.8；
(2) as | α | when=π/6~pi/2, K=1.6+1.2* | α |/π；
(3) as | α | when=pi/2~π, K=2+0.4* | α |/π.
Voltage analog computing unit 120 is controlled using left and right wheels driving voltage and the linear pass for controlling voltage analog
System obtains control voltage analog and is input to electric machine controller.
Electric machine controller 130 controls the driving voltage of left and right wheels according to the control voltage analog inputted.
Fig. 2 is the flow chart of the path tracking control method for the unmanned trolley for showing first embodiment.In the following, in conjunction with
Specific example illustrates the path tracking control method of the unmanned trolley of the present embodiment.
First, step S110 shown in Fig. 2, driving voltage computing unit 110 is according to following unmanned trolley
Left and right wheels driving voltage and the state equation (1) of the steering angle of unmanned trolley obtain left and right wheels driving voltage,
Wherein, ULFor revolver driving voltage, URFor right wheel driving voltage, U0It is for straight-line travelling voltage, α under present speed
Steering angle, L are left and right sidesing driving wheel spacing, TmFor time constant of electric motors, K is back emf coefficient, and t is run duration.T hereinmElectricity
Machine time constant is motor from starting to the time undergone when rotating speed reaches the 63.2% of no-load speed.
Wherein, preferably | α | value range is 0~π, and K value ranges are 1.6~2.4.
In the present embodiment, preferred basis | α | different values, dynamic adjusts the available more preferably error-correcting effect of K values, specifically
It is as follows：
(1) as | α | when=0~π/6, K=1.8；
(2) as | α | when=π/6~pi/2, K=1.6+1.2* | α |/π；
(3) as | α | when=pi/2~π, K=2+0.4* | α |/π.
Later, in step S120, control voltage analog computing unit 120 utilizes left and right wheels driving voltage and control voltage
The linear relationship of analog quantity obtains control voltage analog and is input to electric machine controller 130.
Finally, in step S130, left and right wheels driving voltage is controlled according to control voltage analog by electric machine controller 130,
The tracing control of realizing route.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, for example, multiple units or component can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be the INDIRECT COUPLING or logical by some interfaces, device or unit
Letter connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can be stored in one and computer-readable deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that device (can be personal computer, server or network equipment etc.) or processor (Processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various
The medium of program code can be stored.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent substitution, improvement and etc. done should be included within the scope of protection of the invention god.
Claims (5)
1. a kind of path tracking control method of unmanned trolley, which is characterized in that
First, according to the state side of the left and right wheels driving voltage of following unmanned trolley and the steering angle of unmanned trolley
Journey (1) obtains left and right wheels driving voltage,
Wherein, ULFor revolver driving voltage, URFor right wheel driving voltage, U0For straight-line travelling voltage under present speed, α is to turn to
Angle, L are left and right sidesing driving wheel spacing, TmFor time constant of electric motors, K is back emf coefficient, and t is run duration, T hereinmWhen motor
Between constant be motor from starting to the time undergone when rotating speed reaches the 63.2% of no-load speed, wherein | α | value range
For 0~π, K value ranges are 1.6~2.4；
Later, it obtains control voltage analog using the linear relationship of left and right wheels driving voltage and control voltage analog and inputs
To electric machine controller；
Finally, the left and right wheels driving voltage is controlled according to the control voltage analog by electric machine controller, realizing route
Tracing control.
2. the path tracking control method of unmanned trolley according to claim 1, which is characterized in that further,
According to | α | different values, dynamic adjusts K values, specific as follows：
(1) as | α | when=0~π/6, K=1.8；
(2) as | α | when=π/6~pi/2, K=1.6+1.2* | α |/π；
(3) as | α | when=π -2~π, k=2+0.4* | α |/π.
3. a kind of path following control device of unmanned trolley, which is characterized in that including：
Driving voltage computing unit, according to turn of the left and right wheels driving voltage of following unmanned trolley and unmanned trolley
Left and right wheels driving voltage is obtained to the state equation (1) at angle,
Wherein, ULFor revolver driving voltage, URFor right wheel driving voltage, U0For straight-line travelling voltage under present speed, α is to turn to
Angle, L are left and right sidesing driving wheel spacing, TmFor time constant of electric motors, K is back emf coefficient, and t is run duration, T hereinmWhen motor
Between constant be motor from starting to the time undergone when rotating speed reaches the 63.2% of no-load speed, wherein | α | value range
For 0~π, K value ranges are 1.6~2.4；
Voltage analog computing unit is controlled, is controlled using left and right wheels driving voltage and the linear relationship of control voltage analog
Voltage analog processed is simultaneously input to electric machine controller；And
Electric machine controller controls the left and right wheels driving voltage according to the control voltage analog inputted.
4. the path following control device of unmanned trolley according to claim 3, which is characterized in that
According to | α | different values, dynamic adjusts K values, specific as follows：
(1) as | α | when=0~π/6, K=1.8；
(2) as | α | when=π/6~pi/2, K=1.6+1.2* | α |/π；
(3) as | α | when=pi/2~π, K=2+0.4* | α |/π.
5. a kind of unmanned trolley, which is characterized in that
Include the path following control device of the unmanned trolley described in small vehicle main body and claim 3 or 4.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710096140.7A CN108454610A (en) | 2017-02-22 | 2017-02-22 | Path following control device and method, the unmanned trolley of unmanned trolley |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710096140.7A CN108454610A (en) | 2017-02-22 | 2017-02-22 | Path following control device and method, the unmanned trolley of unmanned trolley |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5539646A (en) * | 1993-10-26 | 1996-07-23 | Hk Systems Inc. | Method and apparatus for an AGV inertial table having an angular rate sensor and a voltage controlled oscillator |
| CN102854878A (en) * | 2012-09-14 | 2013-01-02 | 苏州工业园区永动工业设备有限公司 | Infrared photoelectric guiding automatic guided vehicle (AGV) device and control method thereof |
| CN105242672A (en) * | 2015-11-13 | 2016-01-13 | 深圳市步科电气有限公司 | AGV (automated guided vehicle) capable of body deviation angle adjustment |
| CN105737838A (en) * | 2016-02-22 | 2016-07-06 | 广东嘉腾机器人自动化有限公司 | AGV path tracking method |
-
2017
- 2017-02-22 CN CN201710096140.7A patent/CN108454610A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5539646A (en) * | 1993-10-26 | 1996-07-23 | Hk Systems Inc. | Method and apparatus for an AGV inertial table having an angular rate sensor and a voltage controlled oscillator |
| CN102854878A (en) * | 2012-09-14 | 2013-01-02 | 苏州工业园区永动工业设备有限公司 | Infrared photoelectric guiding automatic guided vehicle (AGV) device and control method thereof |
| CN105242672A (en) * | 2015-11-13 | 2016-01-13 | 深圳市步科电气有限公司 | AGV (automated guided vehicle) capable of body deviation angle adjustment |
| CN105737838A (en) * | 2016-02-22 | 2016-07-06 | 广东嘉腾机器人自动化有限公司 | AGV path tracking method |
Non-Patent Citations (1)
| Title |
|---|
| 许伦辉等: "自动引导车路径偏差的控制研究", 《广西师范大学学报：自然科学版》 * |
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Application publication date: 20180828 |