CN109062080A - A kind of simulation control method and system based on AGV - Google Patents
A kind of simulation control method and system based on AGV Download PDFInfo
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Abstract
The invention discloses a kind of simulation control methods based on AGV, including establishing the AGV emulation testing trajectory planning path based on topological map, and calculate and obtain all the points coordinate in the planning path and store；The motion model for establishing the chassis AGV is obtained the moving condition data of AGV in real time by the motion model, and controls checkpoint state data according to the corresponding AGV of the moving condition data acquisition；According to the angular adjustment amount and speed regulated quantity for taking aim at a length computation in advance and obtaining the reference point in the planning path；The angular adjustment amount and speed regulated quantity are inputted into the motion model to adjust the moving condition of the AGV emulation vehicle.By being directed to the trace simulation of virtual vehicle, so that not limited by real vehicle or embedded controller based entirely on the Realization of Simulation the TRAJECTORY CONTROL parameter testing of AGV, fast and easy is debugged, overcomes real vehicle hardware fault interference during parameter tuning.
Description
Technical field
The present invention relates to technical field of control method more particularly to a kind of simulation control methods and system based on AGV.
Background technique
Homing guidance robot (Automated Guided Vehicle, abbreviation AGV) also known as automatic guided vehicle, are itself
The homing guidance equipment of guiding module is carried, can be according to different guide modes, along the route planned in advance, and energy
It is enough to complete the series functions such as turning, parking, it is one of the key equipment of modern industry automated system.AGV has flexibility, intelligence
The distinguishing features such as energyization can be convenient ground recombination system, reach the flexible transport of production process.With traditional artificial or half people
The production method of work is compared, and AGV system alleviates labor intensity, reduces risk, improves production efficiency.Therefore, AGV makees
For the highest product of automatization level in Logistics Equipment, it is each to be increasingly being applied to automobile manufacture, tobacco, electronics, storage etc.
A industry.
AGV guarantees that the smooth trajectory of its movement routine is its important technical requirements as a kind of autonomous mobile robot.
In the TRAJECTORY CONTROL of AGV, the AGV of different chassis versions, such as Twin Rudders wheel, single steering wheel, two-wheel differential have different movements
Model is learned, needs to take different control strategies, by largely repeating real steering vectors, constantly adjusts the number of corresponding control parameter
Value, until the control effect that is optimal, but the selection mode heavy workload of such control parameter, and debugging process be easy by
The interference of vehicle hardware failure brings difficulty for debugging efforts.
In the prior art, a kind of Trajectory Tracking Control method (patent publication No. based on AGV system is disclosed
CN108459605A), by establishing AGV wheel power model；Structural constraint is set up, AGV system kinetic model etc. is established
Mode establishes contrail tracker, controls the operation of the AGV system, but the program by the contrail tracker
It needs to establish corresponding mathematical model according to different automobile types, adjusting TRAJECTORY CONTROL parameter, live AGV vehicle is debugged by real vehicle
It needs to carry out a large amount of retests, and real vehicle car body is easy to appear various hardware faults, increases difficulty and work to debugging efforts
Amount, and debug time and effect depend heavily on the experience of commissioning staff.For the AGV vehicle of different chassis versions various at present
, bobbin movement model and TRAJECTORY CONTROL algorithm be not general, and debugs without the TRAJECTORY CONTROL parameter of a set of directiveness
Reference, debugging work load is complicated and is easy the problem of being interfered by real vehicle hardware fault.
In addition, also by Hardware In The Loop Simulation Method, such as the prior art " a kind of AGV motion control semi-matter simulating system "
Described in (patent publication No. CN105005206A), by the AGV embedded controller of entity, cooperate corresponding AGV imitative
True controller adjusts real vehicle parameter, and this technical solution avoids the heaviness and vulnerability to jamming of real steering vectors, still
There is still a need for the participation of entity embedded controller, the performance of controller directly can cause great influence to debugging effect, and debug
Process is not enough succinctly, conveniently.
Summary of the invention
The present invention is for the AGV vehicle in the prior art for different chassis versions various at present, bobbin movement mould
Type and TRAJECTORY CONTROL algorithm be not general, and debugging work load is complicated and is easy the problem of being interfered by real vehicle hardware fault, provides
A kind of simulation control method based on AGV, comprising: establish the AGV emulation testing trajectory planning path based on topological map, and count
It calculates and obtains all the points coordinate in the planning path and store；The motion model for establishing the chassis AGV, it is real by the motion model
When obtain the moving condition data of AGV, and checkpoint state number is controlled according to the corresponding AGV of the moving condition data acquisition
According to；According to the angular adjustment amount and speed regulated quantity for taking aim at a length computation in advance and obtaining the reference point in the planning path；By institute
It states angular adjustment amount and speed regulated quantity inputs the motion model to adjust the moving condition of the AGV emulation vehicle.
Further, the motion model that the chassis AGV is established in the step obtains AGV by the motion model in real time
Moving condition data, and checkpoint state data are controlled according to the corresponding AGV of the moving condition data acquisition, it is specific to wrap
Include: setting AGV sensor bring systematic error and stationary power error establish the motion model on the chassis AGV；According to described
Motion model obtains the moving condition data of AGV in real time, and according to the corresponding AGV control reference of the moving condition data acquisition
Dotted state data.
Further, the step setting AGV sensor bring systematic error and stationary power error, establish AGV
The motion model on chassis, specifically includes: establishing the general mathematical model for being directed to AGV difference chassis version, AGV vehicle is abstracted as
One motor point, if the real-time coordinates in the motor point are P (x, y, θ), wherein θ is movement course angle, then:
Wherein, initial coordinate of the AGV under environment coordinate system is P0(x0, y0, θ0), Δ t is AGV from P0Point to P point when
Between, Δ x and Δ y are default stationary power error, f (v0)、f(w0)、f(θ0) it is preset system error function.
Further, step is according to the angular adjustment amount for taking aim at a length computation in advance and obtaining the reference point in the planning path
It with speed regulated quantity, specifically includes: being obtained to the distance of reference point in the planning by calculating all the points in the planning path
From the closest approach of reference point on path；Judge first position locating after a distance is taken aim in the closest approach increase in advance, if first
Position still in planning path then as taking aim at a little in advance, otherwise using planning path terminal as taking aim at a little in advance；Obtain described pre- take aim at
Point to reference point deflection angle and take aim at a little pre- in planning path in advance and take aim at curvature；According to the deflection angle and in advance take aim at a little
Curvature obtains the angular adjustment amount and speed regulated quantity of the reference point.
Further, the planning path is cube bezier curve.
The invention also discloses a kind of simulation control subsystems based on AGV, comprising: movement routine generation module, for building
Be based on the AGV emulation testing trajectory planning path of topological map, and calculates and obtain in the planning path all the points coordinate simultaneously
Storage；AGV motion simulation module obtains AGV's by the motion model for establishing the motion model on the chassis AGV in real time
Moving condition data, and checkpoint state data are controlled according to the corresponding AGV of the moving condition data acquisition；TRAJECTORY CONTROL mould
Block, for according to the angular adjustment amount and speed regulated quantity for taking aim at the reference point that a length computation obtains in the planning path in advance；
Track monitoring module is imitated for the angular adjustment amount and speed regulated quantity to be inputted the motion model with adjusting the AGV
The moving condition of true vehicle.
Further, the AGV motion simulation module includes: motion model generation module, for setting AGV sensor strip
The systematic error and stationary power error come, and establish the motion model on the chassis AGV；State data acquisition module, for leading to
The moving condition data that the motion model obtains AGV in real time are crossed, and are controlled according to the corresponding AGV of the moving condition data acquisition
Checkpoint state data processed.
Further, the TRAJECTORY CONTROL module includes: that closest approach obtains module, for by calculating the planning path
Upper all the points obtain in the planning path to the distance of reference point from the closest approach of reference point；It takes aim in advance and clicks modulus block, be used for
First position locating after a distance is taken aim in the closest approach increase in advance is judged, by it if first position is still in planning path
As taking aim at a little in advance, otherwise using planning path terminal as taking aim at a little in advance；A parameter acquisition module is taken aim in advance, for obtaining described pre- take aim at a little
To reference point deflection angle and take aim at a little pre- in planning path in advance and take aim at curvature；Control parameter obtains module, is used for basis
The deflection angle and angular adjustment amount and speed regulated quantity that curvature obtains the reference point are taken aim in advance.
The invention also discloses a kind of Simulation Control device based on AGV, including memory, processor and it is stored in institute
The computer program that can be run in memory and on the processor is stated, the processor executes real when the computer program
Now the step of Simulation Control as described in any of the above-described based on AGV.
The invention also discloses a kind of computer readable storage medium, the computer-readable recording medium storage has calculating
Machine program, the step of Simulation Control as described in any of the above-described based on AGV is realized when the computer program is executed by processor.
The present invention is by establishing the general kinematics model on the chassis adaptation polymorphic type AGV based on particle and using shellfish three times
Sai Er curve simulates motion profile, closer to true vehicle movement track.By being directed to the trace simulation of virtual vehicle,
So that not limited by real vehicle or embedded controller based entirely on the Realization of Simulation the TRAJECTORY CONTROL parameter testing of AGV, debug
Easily and fast, real vehicle hardware fault interference during parameter tuning is overcome, the work of retest is significantly reduced
Amount, has been turned up debugging efficiency.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of flow diagram of the simulation control method based on AGV disclosed in one embodiment of the invention.
Fig. 2 is the flow diagram for the step S2 that one embodiment of the invention discloses.
Fig. 3 is parking stall position coordinates schematic diagram in TRAJECTORY CONTROL disclosed in one embodiment of the invention.
Fig. 4 is the moving condition schematic diagram of AGV simulating sports model disclosed in one embodiment of the invention.
Fig. 5 is the disclosed flow diagram to step S5 of one embodiment of the invention.
Fig. 6 is the structural schematic diagram of the simulation control subsystem based on AGV disclosed in one embodiment of the invention.
Fig. 7 is the structural schematic diagram of AGV motion simulation module disclosed in one embodiment of the invention.
Fig. 8 is the structural schematic diagram of TRAJECTORY CONTROL module disclosed in one embodiment of the invention.
Fig. 9 is the operation schematic diagram of TRAJECTORY CONTROL module disclosed in one embodiment of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Attached drawing, the technical solution of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this hair
Bright a part of the embodiment, instead of all the embodiments.Based on described the embodiment of the present invention, ordinary skill
Personnel's every other embodiment obtained under the premise of being not necessarily to creative work, shall fall within the protection scope of the present invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
Unless otherwise defined, the technical term or scientific term used herein should be in fields of the present invention and has
The ordinary meaning that the personage of general technical ability is understood.Used in present patent application specification and claims " the
One ", " second " and similar word are not offered as any sequence, quantity or importance, and are used only to distinguish different
Component part.Equally, the similar word such as "one" or " one " does not indicate that quantity limits yet, but indicates that there are at least one.
Attached drawing 1 is a kind of flow diagram of the simulation control method based on AGV disclosed in an embodiment, and this method is specific
Include:
Step S1 establishes the AGV emulation testing trajectory planning path based on topological map, and calculates and obtain the planning road
It all the points coordinate and is stored on diameter.
In the present embodiment, it obtains in advance and stores a trajectory planning path curve based on known topological map, be used for
Carry out subsequent simulation test, it is known that 4 coordinates on the trajectory planning path curve are (xs, ys)、(xe, ye)、(xc0,
yc0)、(xc1, yc1), which can choose cube bezier curve, and specific path curve equation is as follows:
Wherein t indicates the percentage of curve overall length；The cube shellfish can be acquired by 4 aforementioned known coordinates
The specific coordinate of all tracing points on Sai Er curve, and the specific coordinate of each tracing point in the mark planning path is stored in meter
In calculation machine memory variable container.
Step S2 establishes the motion model on the chassis AGV, obtains the moving condition number of AGV in real time by the motion model
According to, and checkpoint state data, as shown in Fig. 2, the step are controlled according to the corresponding AGV of the moving condition data acquisition
It specifically includes:
Step S21 sets AGV sensor bring systematic error and stationary power error, establishes the movement on the chassis AGV
Model；
According to the rigid geometrical constraint of known vehicle, the AGV general mathematical model for being directed to different chassis versions is established, it will
AGV vehicle is abstracted as a particle, controls particle as shown in Fig. 3, in TRAJECTORY CONTROL and is located at traveling on desired trajectory, if working as
Coordinate of the vehicle in front position under environment coordinate system is P0(x0, y0, θ0), timer Δ t, the control input of current vehicle mass center
For speed v0, angular speed w0, movement course angle θ0, establish real-time track of following kinematics differential equations as emulation vehicle:
Wherein Δx、ΔyFor preset stationary power error, the stationary power error is by the factors such as environment such as ground
The influence of roughness, ground hollow degree, crab traversing speed, motor model etc., specific value can be set in monitoring interface
Fixed and adjustment, in certain embodiments, adjusting range are that can be chosen within the scope of -2m/s~2m/s, with reality
Now to the emulation of real vehicles motion conditions.Bring system mistake is simulated by the way that white Gaussian noise is added to emulation vehicle simultaneously
Difference.Specifically, f (v), f (w), f (θ) they are respectively to simulate each sensor of AGV to v, the parameters bring systematic error such as ω, θ,
Middle f (v)~N (0, σ1), f (w)~N (0, σ2), f (θ)~N (0, σ3), σ1、σ2、σ3It is right for characterizing the fluctuation size of v, ω, θ
σ1、σ2、σ3Take different values that can examine the robustness of TRAJECTORY CONTROL parameter tuning method, in some embodiments, σ1、σ2、σ3
Values be σ1≤0.025、σ2≤0.001、σ3≤ 0.001, σ1、σ2、σ3Setting value is bigger, indicates v, the fluctuation of ω, θ
It is bigger.
By systematic error and stationary power error caused by default AGV sensor, so that the movement mould of emulation vehicle
Type is more accurate.By establishing the general kinematics model on the chassis adaptation polymorphic type AGV based on particle and being matched using shellfish three times
You simulate motion profile at curve, closer to true vehicle movement track.By being directed to the trace simulation of virtual vehicle, make
The TRAJECTORY CONTROL parameter testing to AGV is obtained based entirely on the Realization of Simulation, is not limited by real vehicle or embedded controller, debugging side
Just, real vehicle hardware fault interference during parameter tuning quickly, is overcome, the work of retest is significantly reduced
Amount, has been turned up debugging efficiency.
Step S22 obtains the moving condition data of AGV according to the motion model in real time, and according to the moving condition
The corresponding AGV of data acquisition controls checkpoint state data.
As shown in Fig. 4, current AGV moving condition data are obtained in real time by AGV simulating sports model above-mentioned, are had
Body, location data P ' is obtained by simulating sports model0(x′0, y '0, θ '0), by P '0Polar coordinates conversion:
Wherein LohIt is control reference point to the distance of laser sensor, obtains AGV reference point P0(x0, y0, θ0)。
Step S3, according to the angular adjustment amount and speed for taking aim at a length computation in advance and obtaining the reference point in the planning path
Regulated quantity, as shown in 5 institute of attached drawing, the step is specifically included:
Step S31 is obtained to the distance of reference point on the planning road by calculating all tracing points in the planning path
The closest approach of distance reference point on diameter.
Specifically, as shown in Fig. 4, all the points stored in the Bezier container by traversing the planning path
To the distance of control reference point, the available closest approach from control reference point on the curve.
The all the points of the storage in Bezier container by traversing the planning path are to controlling reference point P0(x0,
y0, θ0) distance, it is available from control reference point P0Closest approach P on the curve1′。
Step S32 judges first position locating after a distance is taken aim in the closest approach increase in advance, if first position still exists
Then as taking aim at a little in advance in planning path, otherwise using planning path terminal as taking aim at a little in advance.
Known pre- length of taking aim at is Lr, obtain the closest approach P1' increase LrPre- on Bezier is taken aim at a little after distance
P1(x1, y1, θ1)；If P1' increase LrIt is greater than the terminal of Bezier afterwards, then taking aim in advance a little is always this as planning path
The terminal of Bezier.
Step S33 obtains pre- take aim at and a little takes aim at a little pre- in planning path to the deflection angle of reference point and in advance and take aim at a little
Curvature.
It calculates and takes aim at point P in advance1(x1, y1, θ1) arrive reference point P0(x0, y0, θ0) between deflection angleThat is reference point and pre-
The angle of line and x-axis a little is taken aim at, specific as follows:
The pre- pre- curvature of taking aim at taken aim at a little in planning path is calculated simultaneously: calculating control amountIt calculates
Control amount β1=θ0-θ1, calculate and take aim at point P in advance1Curvature
Step S34 takes aim at angular adjustment amount and speed that curvature obtains the reference point according to the deflection angle and in advance
Regulated quantity.
It is known pre- to take aim at point P1The percentage of the total length of place curve is t0, obtained according to the path curve equation
P1Coordinate
It chooses and is used to substantially calculate P1Locate a point P on the curve of the angle of contingence10, the P10For on curve with P1Face very much
A bit close, by P1And P10Line as P1The tangent line of point, for P can be gone out with approximate calculation1The angle of contingence, specifically, setting
P10The percentage of the total length of place curve is t1=t0+ 0.005, P is obtained according to the path curve equation10Coordinate:
Calculate P1Tangential angle
Similarly calculate distance P1Δ S at coordinate be denoted as P1+Δs, wherein Δ S be level off to 0 limiting value, be from P1
A close position, and calculating the tangential angle where obtaining is α2, α2Calculation and α1It is identical, it is not repeated to discuss；
Obtain P1The approximate curvature K at place1:
Finally obtain and export control measuring angle, i.e. angular adjustment amountIts
Middle Kp1And Kp2For the proportionality coefficient in preset pid control parameter, only select in pid control parameter in the present embodiment
Proportionality coefficient is easier to adjust so that the mutually restriction between control amount is less.Certainly in other embodiments, PID control can also be increased
One or more of proportionality coefficient, integral coefficient and/or differential coefficient in parameter processed are adjusted angle regulated quantity.
Finally obtain and export control amount speed, i.e. speed regulated quantity
The angular adjustment amount and speed regulated quantity are inputted the motion model and are emulated with adjusting the AGV by step S4
The moving condition of vehicle.
Angular adjustment amount and speed regulated quantity data are obtained in real time by abovementioned steps, by the angular adjustment amount and speed
Regulated quantity inputs AGV simulating sports model, the movement of control and adjustment virtual vehicle, while feeding back to original input, further
Controlled volume is adjusted, virtual vehicle is made to walk along the Bezier track of known map
The motion profile that trolley can be observed in real time by monitoring interface judges current pid control parameter Kp1And Kp2Whether
Properly, the control of vehicle motion profile is emulated by the AGV to multiple groups pid control parameter to be measured, pid control parameter can be filtered out
Optimized scope provides theoretical foundation for the pid parameter adjusting of real vehicle, reduces the test volume of real vehicle.
Method of the invention is not limited based entirely on the Realization of Simulation by real vehicle or embedded controller, and debugging is convenient, fast
Speed overcomes real vehicle hardware fault interference during parameter tuning, significantly reduces the workload of retest, be turned up
Debugging efficiency.This method is directed to the TRAJECTORY CONTROL of virtual vehicle, proposes the general of the chassis adaptation polymorphic type AGV based on particle
Kinematics model, the TRAJECTORY CONTROL for virtual vehicle.By simulating the TRAJECTORY CONTROL process of real vehicle, can be directed to different types of
The emulation that the chassis AGV carries out pid parameter is adjusted, and is provided theoretical foundation for the pid parameter adjusting of real vehicle, is greatly simplified test
Process reduces test job amount.
Attached drawing 6 is a kind of schematic illustration of the simulation control subsystem based on AGV disclosed in one embodiment of the invention, including
Movement routine generation module 1, AGV motion simulation module 2, TRAJECTORY CONTROL module 3 and track monitoring module 4, wherein movement routine
Generation module 1 calculates for establishing the AGV emulation testing trajectory planning path based on topological map and obtains the planning path
Upper all the points coordinate simultaneously stores；AGV motion simulation module 2 is obtained for establishing AGV motion model by the motion model in real time
The moving condition data of AGV are taken, and checkpoint state data are controlled according to the corresponding AGV of the moving condition data acquisition；Rail
Mark control module 3 is used for according to the angular adjustment amount and speed for taking aim at the reference point that a length computation obtains in the planning path in advance
Regulated quantity；Track monitoring module 4 is used to the angular adjustment amount and speed regulated quantity inputting the motion model to adjust
State the moving condition of AGV emulation vehicle.Wherein AGV motion simulation module 2 establishes the kinematics model for adapting to a variety of chassis AGV,
TRAJECTORY CONTROL module 3 controls AGV virtual vehicle and walks along desired guiding trajectory, and track monitoring module 4 can go out current virtual with Dynamically Announce
The motion conditions of vehicle, and the controling parameter of control module and numerical value can be adjusted in real time, motion simulation module and track are supervised
It controls interface and uses identical environment topology map, guarantee the validity of vehicle coordinate in environment coordinate system.
In some embodiments, as shown in Fig. 7, the AGV motion simulation module 2 may include motion model generation module
21 and state data acquisition module 22, the motion model generation module 21 is for setting AGV sensor bring systematic error
With stationary power error, and the motion model on the chassis AGV is established.The state data acquisition module 22 is for passing through the fortune
Movable model obtains the moving condition data of AGV in real time, and controls reference point according to the corresponding AGV of the moving condition data acquisition
Status data.
In some embodiments, as shown in Fig. 8, the TRAJECTORY CONTROL module 3 includes that closest approach obtains module 31, takes aim in advance
It clicks modulus block 32, take aim at a parameter acquisition module 33 in advance and control parameter acquisition module 34, wherein the closest approach obtains module
31 by calculating all the points in the planning path to the distance of reference point for being obtained in the planning path from reference point
Closest approach.It is described it is pre- take aim at click modulus block 32 for judge the closest approach increase take aim at a distance in advance after locating first position,
As taking aim at a little in advance if first position is still in planning path, otherwise using planning path terminal as taking aim at a little in advance；It is described
A parameter acquisition module 33 is taken aim in advance a little to be taken aim at a little to the deflection angle of reference point and in advance in planning path for obtaining pre- take aim at
Pre- take aim at curvature.The control parameter obtains module 34 and is used to according to the deflection angle and takes aim at curvature in advance obtain the ginseng
The angular adjustment amount and speed regulated quantity of examination point, as shown in Fig. 9, by the angular adjustment amount and speed regulated quantity input trajectory
The angle controller and speed control of control module adjust the motion state and motion profile of AGV virtual vehicle, control AGV
Virtual vehicle is walked along desired guiding trajectory.
Wherein the movement routine generation module can be specifically used for establishing the general mathematical mould for being directed to AGV difference chassis version
AGV vehicle is abstracted as a motor point by type, if the real-time coordinates in the motor point are P (x, y, θ), wherein θ is movement course
Angle, then:Wherein, initial coordinate of the AGV under environment coordinate system is
P0(x0, y0, θ0), Δ t is time of the AGV from P0 point to P point, and Δ x and Δ y are default stationary power error, f (v0)、f
(w0)、f(θ0) it is preset system error function.
The motion profile that trolley can be observed in real time by the monitoring interface of track monitoring module judges current PID control
Whether parameter is suitable, emulates the control of vehicle motion profile by the AGV to multiple groups pid control parameter to be measured, can filter out PID control
The optimized scope of parameter processed provides theoretical foundation for the pid parameter adjusting of real vehicle, reduces the test volume of real vehicle.
The present embodiment it is disclosed based on the simulation control subsystem of AGV based entirely on the Realization of Simulation, not by real vehicle or embedded
The limitation of controller, debugging easily and fast, overcome real vehicle hardware fault interference during parameter tuning, greatly drop
The low workload of retest, has been turned up debugging efficiency.It is directed to the TRAJECTORY CONTROL of virtual vehicle simultaneously, proposes based on particle
Adapt to the general kinematics model on the chassis polymorphic type AGV, the TRAJECTORY CONTROL for virtual vehicle.By the TRAJECTORY CONTROL for simulating real vehicle
Process, the emulation that pid parameter can be carried out for the different types of chassis AGV are adjusted, and provide reason for the pid parameter adjusting of real vehicle
By foundation, testing process is greatly simplified, reduces test job amount.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment emphasis is said
Bright is the difference from other embodiments, and the same or similar parts in each embodiment may refer to each other.For reality
For applying the simulation control subsystem based on AGV disclosed in example, as its with disclosed in embodiment based on the simulation control method of AGV
Corresponding, so being described relatively simple, reference may be made to the description of the method.
In further embodiments, a kind of Simulation Control device based on AGV, including memory, processor are also disclosed
And the computer program that can be run in the memory and on the processor is stored, such as AGV runs simulation software,
The processor realizes the step in above-mentioned each simulation control method embodiment based on AGV when executing the computer program
Suddenly.
Illustratively, the computer program can be divided into one or more module/units, one or more
A module/unit is stored in the memory, and is executed by the processor, to complete the present invention.It is one or more
A module/unit can be the series of computation machine program instruction section that can complete specific function, and the instruction segment is for describing institute
State implementation procedure of the computer program in the server.
The server may include, but be not limited only to processor, memory.It will be understood by those skilled in the art that described
Schematic diagram is only the example of server, does not constitute the restriction to server apparatus, may include more more or less than illustrating
Component, perhaps combine certain components or different components, such as the server apparatus can also be set including input and output
Standby, network access equipment, bus etc..
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng the processor is the control centre of the server apparatus, utilizes various interfaces and the entire server apparatus of connection
Various pieces.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
The various functions of server apparatus.The memory can mainly include storing program area and storage data area, wherein storage program
Area can application program needed for storage program area, at least one function etc. in addition, memory may include high random access
Memory can also include nonvolatile memory, such as hard disk, memory, plug-in type hard disk, intelligent memory card (Smart
Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card), at least one disk
Memory device, flush memory device or other volatile solid-state parts.
If the simulation control method based on AGV is realized in the form of SFU software functional unit and as independent product
When selling or using, such as AGV runs simulation software, can store in a computer readable storage medium.Based on this
The understanding of sample, the present invention realize all or part of the process in above-described embodiment method, can also be referred to by computer program
Relevant hardware is enabled to complete, the computer program can be stored in a computer readable storage medium, the computer journey
Sequence is when being executed by processor, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes calculating
Machine program code, the computer program code can for source code form, object identification code form, executable file or it is certain in
Between form etc..The computer-readable medium may include: any entity or dress that can carry the computer program code
It sets, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software
Distribution medium etc..It should be noted that the content that the computer-readable medium includes can be according to making laws in jurisdiction
Requirement with patent practice carries out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent practice, computer
Readable medium does not include electric carrier signal and telecommunication signal.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, the range for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
In short, the foregoing is merely presently preferred embodiments of the present invention, it is all according to equalization made by scope of the present invention patent
Variation and modification, shall all be covered by the patent of the invention.
Claims (10)
1. a kind of simulation control method based on AGV characterized by comprising
The AGV emulation testing trajectory planning path based on topological map is established, and calculates and obtains all the points in the planning path
Coordinate simultaneously stores；
AGV bobbin movement model is established, obtains the moving condition data of AGV in real time by the motion model, and according to described
The corresponding AGV of moving condition data acquisition controls checkpoint state data；
According to the angular adjustment amount and speed regulated quantity for taking aim at a length computation in advance and obtaining the reference point in the planning path；
The angular adjustment amount and speed regulated quantity are inputted into the motion model to adjust the mobile shape of the AGV emulation vehicle
State.
2. the simulation control method according to claim 1 based on AGV, it is characterised in that: the step establishes the chassis AGV
Motion model, obtain the moving condition data of AGV in real time by the motion model, and obtain according to the moving condition data
Corresponding AGV control checkpoint state data are taken, are specifically included:
AGV sensor bring systematic error and stationary power error are set, the motion model on the chassis AGV is established；
Obtain the moving condition data of AGV in real time according to the motion model, and corresponding according to the moving condition data acquisition
AGV control checkpoint state data.
3. the simulation control method according to claim 2 based on AGV, which is characterized in that the step setting AGV sensing
Device bring systematic error and stationary power error, establish the motion model on the chassis AGV, specifically include:
The general mathematical model for being directed to AGV difference chassis version is established, AGV vehicle is abstracted as a motor point, if the movement
The real-time coordinates of point are P (x, y, θ), and wherein θ is movement course angle, then:
Wherein, initial coordinate of the AGV under environment coordinate system is P0(x0, y0, θ0), Δ t is AGV from P0Point arrives the time of P point, Δ
X and Δ y is default stationary power error, f (v0)、f(w0)、f(θ0) it is preset system error function.
4. the simulation control method according to claim 1 to 3 based on AGV, which is characterized in that step according to taking aim in advance
Point length computation obtains the angular adjustment amount and speed regulated quantity of the reference point in the planning path, specifically includes:
It is obtained in the planning path most from reference point by calculating all the points in the planning path to the distance of reference point
Near point；
First position locating after a distance is taken aim in the closest approach increase in advance is judged, if first position is still in planning path
As taking aim at a little in advance, otherwise using planning path terminal as taking aim at a little in advance；
Pre- take aim at is obtained a little to take aim at a little pre- in planning path to the deflection angle of reference point and in advance and take aim at curvature；
Angular adjustment amount and speed regulated quantity that curvature obtains the reference point are taken aim at according to the deflection angle and in advance.
5. the simulation control method according to claim 4 based on AGV, it is characterised in that: the planning path is three times
Square bezier curve.
6. a kind of simulation control subsystem based on AGV characterized by comprising
Movement routine generation module for establishing the AGV emulation testing trajectory planning path based on topological map, and calculates acquisition
It all the points coordinate and is stored in the planning path；
AGV motion simulation module obtains the shifting of AGV by the motion model for establishing the motion model on the chassis AGV in real time
Dynamic status data, and checkpoint state data are controlled according to the corresponding AGV of the moving condition data acquisition；
TRAJECTORY CONTROL module, for according to the angular adjustment amount for taking aim at the reference point that a length computation obtains in the planning path in advance
With speed regulated quantity；
Track monitoring module, it is described to adjust for the angular adjustment amount and speed regulated quantity to be inputted the motion model
The moving condition of AGV emulation vehicle.
7. simulation control subsystem according to claim 6, which is characterized in that the AGV motion simulation module includes:
Motion model generation module for setting AGV sensor bring systematic error and stationary power error, and is established
The motion model on the chassis AGV；
State data acquisition module, for obtaining the moving condition data of AGV in real time by the motion model, and according to described
The corresponding AGV of moving condition data acquisition controls checkpoint state data.
8. simulation control subsystem according to claim 6 or 7, which is characterized in that the TRAJECTORY CONTROL module includes:
Closest approach obtains module, for being obtained to the distance of reference point in the rule by calculating all the points in the planning path
Draw the closest approach on path from reference point；
It takes aim in advance and clicks modulus block, for judging first position locating after a distance is taken aim in the closest approach increase in advance, if first
Position still in planning path then as taking aim at a little in advance, otherwise using planning path terminal as taking aim at a little in advance；
A parameter acquisition module is taken aim in advance, is a little taken aim at a little to the deflection angle of reference point and in advance in planning path for obtaining pre- take aim at
On pre- take aim at curvature；
Control parameter obtains module, the angular adjustment for obtaining the reference point for taking aim at curvature according to the deflection angle and in advance
Amount and speed regulated quantity.
9. a kind of Simulation Control device based on AGV, including memory, processor and storage are in the memory and can be
The computer program run on the processor, it is characterised in that: the processor is realized such as when executing the computer program
The step of claim 1-5 any the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In: the step of the method as any such as claim 1-5 is realized when the computer program is executed by processor.
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| CN112099489A (en) * | 2020-08-17 | 2020-12-18 | 盐城工学院 | Simulation method for modeling and position tracking of line control chassis |
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