CN107521377A - Automatic guided vehicle power-driven system and method, automatic guided vehicles ystem - Google Patents
Automatic guided vehicle power-driven system and method, automatic guided vehicles ystem Download PDFInfo
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- CN107521377A CN107521377A CN201710744042.XA CN201710744042A CN107521377A CN 107521377 A CN107521377 A CN 107521377A CN 201710744042 A CN201710744042 A CN 201710744042A CN 107521377 A CN107521377 A CN 107521377A
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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
- B60L15/28—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 without contact making and breaking, e.g. using a transductor
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/10—Electrical machine types
- B60L2220/20—DC electrical machines
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
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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
- 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
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- 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 Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a kind of automatic guided vehicle power-driven system and method, automatic guided vehicles ystem.Driving wheel power adjustment for automatic guided vehicle controls, and the automatic guided vehicle power-driven system includes detection unit, driver element and computing unit, wherein：The detection unit is used to measure each driving wheel load pressure value, and each driving wheel load pressure value is sent into computing unit, and the driver element is respectively that each driving wheel provides power；The computing unit obtains driver element respectively to the offset of each driving wheel power according to the difference of each driving wheel load pressure value, and the driver element compensates according to the offset to the corresponding driving wheel makes the driving wheel export different driving forces.Power output caused by the present invention precisely compensates for pressure value deviation is unbalanced, makes the driving trace of automatic guided vehicle more accurate.
Description
Technical field
The present invention relates to intelligent driving technology field, more particularly to a kind of automatic guided vehicle power-driven system and method,
Automatic guided vehicles ystem.
Background technology
Automatical pilot transportation vehicle (Automated Guided Vehicle, hereinafter referred to as AGV), refer to equipped with electricity magnetically or optically
Etc. homing guidance device, can travel along defined guide path, have safeguard protection and the transport of various transfer functions
Car, the carrier of driver is not required in commercial Application, using chargeable battery as its power resources.AGV using wheel type mobile as
Feature, than walking, creep or other non-wheeled mobile robots have action is quick, operating efficiency is high, it is simple in construction, can
The advantages such as control property is strong, security is good.Compared with the other equipment commonly used in material conveying, its zone of action of AGV of computer control
The fixing devices such as track, support saddle frame need not be laid, are not limited by place, road and space, and are run on electromagnetic path
AGV then controls simple with maintaining method, and moving line is flexible and changeable.Therefore, most can fully body in automatic Material Handling System
Existing its automaticity and flexibility, realize efficient, economic, flexible manless production.
But it has been found that traditional automatical pilot transportation vehicle (being also referred to as automatic guided vehicle) often travels
The problem of deviateing normal operation track.
The content of the invention
It is an object of the invention to provide a kind of automatic guided vehicle power-driven system and method, automatic guided vehicles ystem,
To solve the problems, such as existing automatic guided vehicle offset track.
In order to solve the above technical problems, the present invention provides a kind of automatic guided vehicle power-driven system, for homing guidance
The driving wheel power adjustment control of car, the automatic guided vehicle power-driven system include detection unit, driver element and calculating
Unit, wherein：
The detection unit is used to measure each driving wheel load pressure value, and will each driving wheel load pressure value
Computing unit is sent to, the driver element is respectively that each driving wheel provides power；
The computing unit obtains driver element respectively to each according to the difference of each driving wheel load pressure value
The offset of the driving wheel power, described in the driver element is compensated to corresponding driving wheel according to the offset and made
Driving wheel exports different driving forces.
Optionally, in described automatic guided vehicle power-driven system, the detection unit includes pressure sensor, often
The individual driving wheel is correspondingly arranged a pressure sensor, and the driver element is direct current generator, each driving wheel
It is correspondingly arranged a direct current generator.
Optionally, in described automatic guided vehicle power-driven system, the computing unit is each described by adjusting
The PWM duty cycle of the control signal of direct current generator make it that the driving wheel is compensated.
The present invention also provides a kind of automatic guided vehicles ystem, including an automatic guided vehicle, in addition to any one institute as described above
The automatic guided vehicle power-driven system stated.
The present invention also provides a kind of automatic guided vehicle power-driven method, including：
Detection unit measures each driving wheel load pressure value, and each driving wheel load pressure value is issued into calculating
Unit；
The computing unit obtains driver element respectively to each according to the difference of each driving wheel load pressure value
The offset of the driving wheel power；
The driver element compensates according to the offset to corresponding driving wheel makes the driving wheel output different
Driving force.
Optionally, in described automatic guided vehicle power-driven method, the computing unit is according to each driving
The difference of wheel load pressure value obtains driver element to be included to the offset of each driving wheel power respectively：
The computing unit chooses one from driving wheel load pressure value and is used as reference pressure value, the reference pressure value
Corresponding driving wheel power is as standard power, and according to the difference of other driving wheel load pressure values and the reference pressure value
It is different, calculate the offset of other driving wheel power.
Optionally, in described automatic guided vehicle power-driven method, if other described driving wheel load pressure values are small
In the reference pressure value, then the driving force of other driving wheels of the driver element input is less than the standard power；
If other described driving wheel load pressure values are more than the reference pressure value, the driver element inputs other driving wheels
Driving force is more than the standard power.
Optionally, in described automatic guided vehicle power-driven method, the computing unit loads in multiple driving wheels
The pressure value of minimum is selected in pressure value as reference pressure value.
Optionally, in described automatic guided vehicle power-driven method, the driver element is direct current generator, the meter
Calculate unit and compensated by adjusting the PWM duty cycle driving wheel of the control signal of each direct current generator.
In automatic guided vehicle power-driven system provided by the invention and method, automatic guided vehicles ystem, pass through calculating
Unit obtains the driver element compensation to each driving wheel power respectively according to the difference of each driving wheel load pressure value
Value, driver element compensates according to the offset to corresponding driving wheel makes the driving wheel export different driving forces,
Can make the different driving wheel of driving force compensating of driver element bear pressure difference caused by orbit displacement, precisely compensate for
Power output caused by pressure value deviation is unbalanced, and certain correction can be just given before automatic guided vehicle offset track, makes certainly
The driving trace of dynamic guiding car is more accurate.
Brief description of the drawings
Fig. 1 is one embodiment of the invention automatic guided vehicle power-driven method schematic flow sheet.
Embodiment
Inventors herein have recognized that there are four drives below automatical pilot transportation vehicle (being also referred to as automatic guided vehicle) car body
Driving wheel, each one motor of freedom, totally 4 motor drivings, or have two driving wheels below car body, two driven pulleys, a driving
The corresponding motor driving of wheel, totally 2 motor drivings, when keeping straight line moving, four or two motors of car body need
Rotating speed is consistent, but in reality, the object load pressure on automatic guided vehicle can not uniformly be distributed in 4 wheels
On, the resistance that 4 wheels overcome when travelling is different, causes traveling to deviate normal operation track.
For this problem, once attempted by magnetic navigation or other navigation supplemental functionalities, it is inclined to occur in car body walking
The correction deviateed car body straight-line travelling is realized when turning, but hysteresis quality be present in such a method, i.e., when automatic guided vehicle has occurred
Just corrected when offset track, it is impossible in real time accurately to the traveling premonitoring of car body.
Deviate present inventor has further discovered that track occurs in automatic guided vehicle mainly due to capacity of body pressure distribution
Uneven, the load pressure for causing different wheels to be carried is different, in the case of motor power output identical, load
The big wheel of pressure rotates slowly, and the small wheel of load pressure rotates soon, causes car body to turn to.
Based on the studies above, core concept of the invention is to provide a kind of automatic guided vehicle power-driven system and side
Method, automatic guided vehicles ystem, so that automatic guided vehicle offset track is reduced or avoided.
To realize above-mentioned thought, the present invention provides a kind of automatic guided vehicle power-driven system, for automatic guided vehicle
Driving wheel power adjustment controls, and the automatic guided vehicle power-driven system includes detection unit, driver element and computing unit,
Wherein：The detection unit is used to measure each driving wheel load pressure value, and each driving wheel load pressure value is sent out
Computing unit is given, the driver element is respectively that each driving wheel provides power；The computing unit is according to described every
The difference of individual driving wheel load pressure value obtains driver element respectively to the offset of each driving wheel power, the driving
Unit compensates according to the offset to corresponding driving wheel makes the driving wheel export different driving forces.
Below in conjunction with the drawings and specific embodiments to automatic guided vehicle power-driven system proposed by the present invention and method, from
Dynamic guiding car system is described in further detail.According to following explanation and claims, advantages and features of the invention will more
It is clear.It should be noted that accompanying drawing uses using very simplified form and non-accurately ratio, only to convenient, apparent
Ground aids in illustrating the purpose of the embodiment of the present invention.
The present embodiment provides a kind of automatic guided vehicle power-driven system, the driving wheel power adjustment for automatic guided vehicle
Control, the automatic guided vehicle power-driven system include detection unit, driver element and computing unit, wherein：The detection
Unit is used to measure each driving wheel load pressure value, and each driving wheel load pressure value is sent into computing unit,
The driver element is respectively that each driving wheel provides power；The computing unit is according to each driving wheel load pressure
The difference of force value obtains driver element respectively to the offset of each driving wheel power, and the driver element is according to the benefit
Repaying value and corresponding driving wheel is compensated makes the driving wheel export different driving forces.
Wherein, the detection unit includes pressure sensor, and each driving wheel is correspondingly arranged the pressure and passed
Sensor, if 4 wheels of car body are driving wheel, the quantity of pressure sensor is 4, is installed in the axle of each driving wheel
On, if the quantity of driving wheel is 2, the quantity of pressure sensor is 2, is separately mounted to a driving wheel and one is common
The center of the common line shaft of wheel.The certain quantity of the driving wheel and the quantity of driver element cannot function as the limitation of this case,
In the prior art, the feasible quantity set of driving turbine driver element of automatic guided vehicle is among the scope of this case.Institute
It is direct current generator to state driver element, because direct current generator has good speed adjusting performance and control mode is simply accurate, Mei Gesuo
State driving wheel and be correspondingly arranged a direct current generator, each one driving wheel of DC motor Driver；Computing unit is each by adjusting
The dutycycle of the pulse-width signal of the direct current generator make it that the driving wheel is compensated, specifically, making the direct current
The voltage of machine is adjusted so that the power of the direct current generator input is adjusted, you can realizes the benefit to pressure value difference
Repay；Preferably, the automatic guided vehicle power-driven system in the present embodiment more adapts under the following conditions：Multiple drivings
The energy conversion rate of motor is equal, and the power output of multiple motors is not up to peak power output.
The present embodiment also provides a kind of automatic guided vehicles ystem, including an automatic guided vehicle, in addition to as described above certainly
Dynamic guiding car power-driven system.
The present embodiment also provides a kind of automatic guided vehicle power-driven method, as shown in figure 1, the automatic guided vehicle power
Driving method includes：Detection unit measures each driving wheel load pressure value, and each driving wheel load pressure value is sent out
To computing unit；The computing unit obtains driver element respectively to every according to the difference of each driving wheel load pressure value
The offset of the individual driving wheel power；The driver element compensates according to the offset to corresponding driving wheel makes institute
State driving wheel and export different driving forces.
Distinguish specifically, the computing unit obtains driver element according to the difference of each driving wheel load pressure value
The offset of each driving wheel power is included：The computing unit chooses a conduct from driving wheel load pressure value
Reference pressure value, driving wheel power corresponding to the reference pressure value are loaded according to other driving wheels and pressed as standard power
Force value and the difference of the reference pressure value, calculate the offset of other driving wheel power.
Further, if other described driving wheel load pressure values are less than the reference pressure value, the driver element
The driving force of other driving wheels of input is less than the standard power；If other described driving wheel load pressure values are more than institute
Reference pressure value is stated, then the driver element inputs the driving forces of other driving wheels and is more than the standard power.Preferably, institute
State computing unit and the pressure value of minimum is selected in multiple driving wheel load pressure values as reference pressure value；The driver element
For direct current generator, the computing unit is obtained by adjusting the PWM duty cycle of the control signal of each direct current generator
The driving wheel is compensated.
The automatic guided vehicle power-driven method of the present embodiment is according to following fundamental formular：
W=F*S=P*t=U*I*t (1)
Wherein：W is acting, and F is power, and S is displacement, and P is power, and t is working application time, and U is voltage, and I is electric current.
Specifically, in described automatic guided vehicle power-driven method, the computing unit is according to the pressure value meter
Calculating the output voltage of the motor corresponding to each wheel includes：
fRub=μ * m*g=μ * N
Wherein：fRubThe cargo mass loaded for frictional force, m by wheel, the pressure value that N is loaded by wheel, a are wheel
Acceleration；μ is coefficient of friction, FCloseTo act on the bonding force on wheel, FMotorFor the output of the motor corresponding to wheel
Power.
Wherein：WMotorFor the power output of the motor corresponding to wheel, WCloseTo act on doing for the bonding force on wheel
Work(, WRubFor the friction working of wheel；S is the displacement of wheel, and U is the output voltage of motor, and R is the equivalent of motor
Resistance, t are wheel rotation time, and η is the energy conversion rate of motor.
As shown from the above formula, when automatic guided vehicle linear running, displacement, acceleration and the wheel of each wheel rotate
Time is equal, and assumes that the equivalent resistance of each motor, energy conversion rate are equal, and coefficient of friction is constant, therefore drives
The output voltage of motor square with its corresponding to wheel pressure value it is proportional.
Further, the wheel square corresponding to it of the dutycycle of the pulse-width signal of each direct current generator
Pressure value it is directly proportional.Because the output voltage and control signal of direct current generator, the i.e. dutycycle of pulse-width signal are directly proportional：
U=K*PWM (4)
Wherein：K is scale parameter, and U is output voltage, and PWM is dutycycle.
Assuming that now the power acting of the motor of AGV four-wheels is respectively WMotor 1, WMotor 2, WMotor 3, WMotor 4, now AGV
Load pressure suffered by the motor of four-wheel is respectively N1, N2, N3, N4, the now output voltage of the motor of AGV four-wheel
Respectively U1, U2, U3, U4, then：
For above formula (6), because same type motor coil resistance value is consistent, both ends electricity on same car body motor is carried in
Pressure is consistent, and car body four-wheel is consistent with the coefficient of friction on ground, while assumes that the energy conversion rate of all motors of car body is consistent.In order to
Ensure that car body traveling is not offset, acceleration a and displacement S-phase are same, and above-mentioned formula (6) is simplified to obtain below equation (7)：
Wherein：PWM is the dutycycle for being used for controlling the output pwm signal of direct current generator to be tried to achieve.According to formula
(7) relation of the PWM duty cycle between other several motors, can also similarly be tried to achieve.
In the automatic guided vehicle power-driven system and method, automatic guided vehicles ystem that the present embodiment provides, pass through meter
Calculate unit and driver element is obtained respectively to the benefit of each driving wheel power according to the difference of each driving wheel load pressure value
Value is repaid, driver element compensates according to the offset to corresponding driving wheel makes the driving wheel export different drivings
Power, the different driving wheel of driving force compensating of driver element can be made to bear orbit displacement caused by pressure difference, accurately
Power output caused by compensating pressure value deviation is unbalanced, and certain correction can be just given before automatic guided vehicle offset track,
Make the driving trace of automatic guided vehicle more accurate.
The present embodiment obtains the current load pressure of car body by being correspondingly arranged pressure sensor in the driving wheel of AGV car bodies
Power distribution situation, by load pressure distribution situation, the output of dynamic regulation motor power balances, to reach car body straight
When line travels, course deviation Qing Condition are occurred without, it is possible to achieve under the unbalanced Qing Condition of AGV capacity of body pressure distributions, lead to
Cross capacity of body pressure Sou Ji Xi System and obtain data.
The automatic guided vehicle power-driven system and method for the present embodiment are applied to control the straight of rotating speed by PWM duty cycle
Motor is flowed, and assumes that the energy conversion rate of the motor of car body is consistent, not up to motor peak power output Qing Condition.In car
The rational position of the wheel shaft stress of body four places pressure sensor, by capacity of body pressure data gathering system and analysis system,
Four wheel shafts difference suffered pressure N1, N2, N3, N4 are obtained, (capacity of body pressure is unbalanced, N1>N2>N3>N4)；Further according to electricity
Mechanomotive force equalizing system, when car body has a straight-line displacement, 4 motor work done divide Do to be WMotor 1, WMotor 2, WMotor 3,
WMotor 4；Drawn by above-mentioned formula (6), motor work done is directly proportional to motor side carrying pressure N square root.Ensureing
Its straight line is walked, it is desirable to which in the case of wheel velocity realtime uniform, the pressure that motor side is born is bigger, and motor work done is got over
Greatly, thus WMotor 1>WMotor 2>WMotor 3>WMotor 4；Consistent in order to reach car body motor acceleration, rotating speed is consistent, further according to above-mentioned formula
(7), and can be in the hope of the comparison of the direct PWM duty cycle of each motor, the offset for this as motor control input, such as
Shown in table 1, dynamic regulation motor power output balance is realized.
Table 1
| N1 | N2 | N3 | N4 | |
| Pressure distribution | 50kg | 60kg | 70kg | 80kg |
| Motor compensating value | 0.0 | 0.095 | 0.183 | 0.265 |
To sum up, above-described embodiment has been carried out specifically to the various configuration of automatic guided vehicle power-driven system and method
Bright, certainly, the present invention includes but is not limited to configuration cited in above-mentioned implementation, any configuration provided in above-described embodiment
On the basis of enter the content of line translation, belong to the scope that the present invention is protected.Those skilled in the art can be according to above-mentioned implementation
The content of example is drawn inferences about other cases from one instance.
Claims (9)
1. a kind of automatic guided vehicle power-driven system, the driving wheel power adjustment for automatic guided vehicle controls, and its feature exists
In, the automatic guided vehicle power-driven system includes detection unit, driver element and computing unit, wherein：
The detection unit is used to measure each driving wheel load pressure value, and each driving wheel load pressure value is sent
To computing unit, the driver element is respectively that each driving wheel provides power；
The computing unit obtains driver element respectively to each described according to the difference of each driving wheel load pressure value
The offset of driving wheel power, the driver element compensates according to the offset to corresponding driving wheel makes the driving
Wheel exports different driving forces.
2. automatic guided vehicle power-driven system as claimed in claim 1, it is characterised in that the detection unit includes pressure
Sensor, each driving wheel are correspondingly arranged a pressure sensor, and the driver element is direct current generator, Mei Gesuo
State driving wheel and be correspondingly arranged a direct current generator.
3. automatic guided vehicle power-driven system as claimed in claim 2, it is characterised in that the computing unit passes through regulation
The PWM duty cycle of the control signal of each direct current generator make it that the driving wheel is compensated.
4. a kind of automatic guided vehicles ystem, including an automatic guided vehicle, it is characterised in that also include as appointed in claims 1 to 3
Automatic guided vehicle power-driven system described in one.
A kind of 5. automatic guided vehicle power-driven method, it is characterised in that including：
Detection unit measures each driving wheel load pressure value, and each driving wheel load pressure value is issued into calculating list
Member；
The computing unit obtains driver element respectively to each described according to the difference of each driving wheel load pressure value
The offset of driving wheel power；
The driver element compensates according to the offset to corresponding driving wheel makes the driving wheel export different drives
Power.
6. automatic guided vehicle power-driven method as claimed in claim 5, it is characterised in that the computing unit is according to
The difference of each driving wheel load pressure value obtains driver element to be included to the offset of each driving wheel power respectively：
The computing unit chooses one from driving wheel load pressure value and is used as reference pressure value, and the reference pressure value corresponds to
Driving wheel power as standard power, and according to the difference of other driving wheel load pressure values and the reference pressure value, meter
Calculate the offset of other driving wheel power.
7. automatic guided vehicle power-driven method as claimed in claim 6, it is characterised in that if other described driving wheels load
Pressure value is less than the reference pressure value, then the driving force of other driving wheels of the driver element input is less than the mark
Quasi- power；If other described driving wheel load pressure values are more than the reference pressure value, the driver element inputs other drives
The driving force of driving wheel is more than the standard power.
8. automatic guided vehicle power-driven method as claimed in claim 7, it is characterised in that the computing unit is in multiple drives
The pressure value of minimum is selected in driving wheel load pressure value as reference pressure value.
9. automatic guided vehicle power-driven method as claimed in claim 5, it is characterised in that the driver element is direct current
Machine, the computing unit are obtained by adjusting the PWM duty cycle driving wheel of the control signal of each direct current generator
It must compensate.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710744042.XA CN107521377B (en) | 2017-08-25 | 2017-08-25 | Automatic guided vehicle power driving system and method and automatic guided vehicle system |
| TW106138819A TWI680899B (en) | 2017-08-25 | 2017-11-09 | Automatic guided vehicle power driving system and method, automatic guided vehicle system |
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| CN201710744042.XA CN107521377B (en) | 2017-08-25 | 2017-08-25 | Automatic guided vehicle power driving system and method and automatic guided vehicle system |
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| KR20030067830A (en) * | 2002-02-08 | 2003-08-19 | 주식회사 만도 | Non driving wheel ABS control method of vehicle |
| CN103935354A (en) * | 2014-04-11 | 2014-07-23 | 武汉理工大学 | Driving force coordinating control system and control method for multi-axle independent electric wheel vehicle |
| CN204281224U (en) * | 2014-10-31 | 2015-04-22 | 浙江中力机械有限公司 | Be provided with the drive wheel pressure compensation device of slider-crank mechanism |
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| TW201912473A (en) | 2019-04-01 |
| CN107521377B (en) | 2020-06-16 |
| TWI680899B (en) | 2020-01-01 |
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