CN109683616A - A kind of straight line path bootstrap technique of list steering wheel postposition driving mobile platform - Google Patents
A kind of straight line path bootstrap technique of list steering wheel postposition driving mobile platform Download PDFInfo
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- CN109683616A CN109683616A CN201811600194.3A CN201811600194A CN109683616A CN 109683616 A CN109683616 A CN 109683616A CN 201811600194 A CN201811600194 A CN 201811600194A CN 109683616 A CN109683616 A CN 109683616A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The present invention is suitable for automatic control technology field, provide a kind of straight line path bootstrap technique of single steering wheel postposition driving mobile platform, this method comprises the following steps: the current pose deviation of S1, real-time detection fork truck, the pose deviation includes: to deviate the lateral distance d of desired trajectory, and fork truck body currently deviates the angle γ of desired trajectory；S2, it keeps the linear velocity of steering wheel constant, by the computation model of current pose deviation input steering wheel drift angle, exports steering wheel in the drift angle of subsequent time.The computation model of steering wheel drift angle is constructed by the relevant parameter of fork truck, the drift angle of steering wheel is adjusted by the computation model of steering wheel drift angle towards desired trajectory direction running, reduce the dependence to empirical parameter, the guidance accuracy of mobile platform is improved, shortens adjustment distance, reduce overshoot, is convenient for the debugging of empirical parameter h based on determining steering wheel drift angle computation model.
Description
Technical field
The invention belongs to automatic control technology fields, provide a kind of straight line path of single steering wheel postposition driving mobile platform
Bootstrap technique.
Background technique
Intelligent forklift and AGV (Automated Guided Vehicle) are the important haulagman of industrial 4.0 intelligent plants
Tool, be mainly used to realize raw material, semi-finished product and Prefabricated parts storage and transhipment, be production system flexibility and
While intelligence provides important guarantee, also the operation of efficient stable is kept to provide technical support for system.In recent years, trackless is led
The advantages that boat is high, controllability is good, Ground arrangement is simple with the flexibility of its path, gradually replaces traditional rail to navigate (such as
Magnetic conductance rail), implementation has laser radar navigation, the navigation of infrared top mark sensor etc..
It (hauls car body to walk) when main rudder wheel pre-driver, motion control is relatively simple, and repairing when deviation occurs in pose
Just more rapidly；But it (pushes car body to walk) when the driving of main rudder wheel postposition, motion control is complex, and deviation occurs in pose
Shi Xiuzheng response speed is slow and is easy to appear overshoot and reforming phenomena.And in some cases (when such as fork truck carries out fork goods, gear shaping
Must be preceding), car body can only be driven by main rudder wheel postposition, so to the pose drift correction model of single steering wheel postposition driving fork truck
Studied, it is existing be mostly PID thought is incorporated in conventional fuzzy control, though mobile platform walking precision peace can be improved
Stability, but the quality of its control effect is largely dependent upon the formulation of fuzzy control rule and subordinating degree function, and it is made
Surely it is heavily dependent on experience, related parameter values determine trouble, lack corresponding rationale.
Summary of the invention
The embodiment of the present invention provides a kind of straight line path bootstrap technique of single steering wheel postposition driving mobile platform, passes through building
The computation model of steering wheel drift angle is exported steering wheel based on the computation model of steering wheel drift angle in the steering wheel drift angle of subsequent time, reduced
To the degree of dependence of experience.
To achieve the goals above, the present invention provides a kind of straight line path guidance of single steering wheel postposition driving mobile platform
Method, described method includes following steps:
The current pose deviation of S1, real-time detection fork truck, the pose deviation include: to deviate the lateral distance of desired trajectory
D, fork truck body currently deviate the angle γ of desired trajectory；
S2, it keeps the linear velocity of steering wheel constant, by the computation model of current pose deviation input steering wheel drift angle, exports rudder
Wheel is in the drift angle of subsequent time.
Further, the computation model of the steering wheel drift angle is specifically expressed as follows:
Wherein, H is active steering wheel to the spacing at driven wheel center, and h is empirical parameter, related to H.
Further, the construction method of steering wheel drift angle computation model includes the following steps:
S21, driven wheel center is projected on desired trajectory, obtains subpoint O, using O point as origin, subpoint O
It is X-axis with the straight line where driven wheel center, desired trajectory is Y-axis, determines puppet target point in Y-axis positive direction based on parameter h
B；
S22, planning steering wheel in the driving path of subsequent time, the i.e. camber line of steering wheel point from current location to B, the camber line with
Fork truck driving direction is tangent；
The turning radius computation model of S23, the building driving path, obtain steering wheel based on turning radius computation model
Drift angle computation model.
Further, the turning radius computation model is expressed as follows:
Wherein, h is empirical parameter, related to H.
The straight line path bootstrap technique of list steering wheel postposition driving mobile platform provided by the invention has the following beneficial effects:
1. construct the computation model of steering wheel drift angle by the relevant parameter of fork truck, by the computation model of steering wheel drift angle come
The drift angle of steering wheel is adjusted towards desired trajectory direction running, the dependence to empirical parameter is reduced, improves the guidance of mobile platform
Precision shortens adjustment distance, reduces overshoot；
2. being convenient for the debugging of empirical parameter h based on determining steering wheel drift angle computation model.
Detailed description of the invention
Fig. 1 is the truck models schematic diagram of single steering wheel postposition provided in an embodiment of the present invention；
Fig. 2 is the motion model figure that single steering wheel postposition provided in an embodiment of the present invention drives fork truck；
Fig. 3 is the pose buggy model figure that single steering wheel postposition provided in an embodiment of the present invention drives fork truck；
Fig. 4 is the instantaneous correction model figure in a left side provided in an embodiment of the present invention；
Fig. 5 is the instantaneous correction model figure in the right side provided in an embodiment of the present invention；
Fig. 6 is that h provided in an embodiment of the present invention is 20cm, the corresponding componental movement geometric locus figure of the different angles of deviation；
Fig. 7 is that h provided in an embodiment of the present invention is 40cm, the corresponding componental movement geometric locus figure of the different angles of deviation；
Fig. 8 is that h provided in an embodiment of the present invention is 80cm, the corresponding componental movement geometric locus figure of the different angles of deviation.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In embodiments of the present invention, single steering wheel driving truck models are as shown in Figure 1, simplified motion model such as Fig. 2 institute
Show, D is the spacing of two driven wheel of fork truck in Fig. 2, and H is spacing of the active steering wheel to driven wheel center, and α is that car body and X-axis are square
To angle, θ is the angle (right avertence is positive) of steering wheel and car body, and v is the linear velocity of active steering wheel, and R is fork truck motion profile
Instantaneous radius, ω are the angular speed of fork truck motion profile, according to fig. 2 in fork truck kinematics model geometrical relationship can be in the hope of:
In Fig. 2, when steering wheel bias angle theta remains unchanged, the motion profile of fork truck (is reference with two driven wheel center of fork truck
Point) it is one section of circular arc, after time interval t, the pose (x ', y ', α ') of fork truck and the relationship of original pose (x, y, α) are as follows:
α '=α+ω Δ t (3)
As shown in figure 3, any one strip direction straight line MN can be indicated by following equation:
Ax+by+c=0, wherein a2+b2≠0 (6)
In Fig. 3, the angle of inclination beta of straight line is the angle of the straight line MN with direction and positive direction of the x-axis, can be by a and b such as following table
Show:
As a > 0 and b < 0, β ∈ (0 °, 90 °)；As a > 0 and b > 0, β ∈ (90 °, 180 °)；As a < 0 and b > 0
When, β ∈ (- 180 °, -90 °)；As a < 0 and b < 0, β ∈ (- 90 °, 0 °)；As a=0 and b > 0, β=180 °；Work as a=0
And when b < 0, β=0 °；As a > 0 and b=0, β=90 °；As a < 0 and b=0, β=- 90 °.
The pose of fork truck is (x, y, α), then is denoted as (γ, d) for the pose deviation of straight path ax+by+c=0.Its
In:
γ=β-α (8)
In embodiments of the present invention, the straight line path bootstrap technique of list steering wheel postposition driving mobile platform includes following step
It is rapid:
The current pose deviation of S1, real-time detection fork truck, pose deviation include: to deviate the lateral distance d of desired trajectory, fork
Vehicle car body currently deviates the angle γ of desired trajectory；
Shown in Fig. 3, fork truck is relative to desired trajectory right avertence, then lateral distance d is greater than zero, if fork truck is relative to desired trajectory
Left avertence, then lateral distance d is based on formula (8) it is found that γ=β-α, β are the angle of desired trajectory and X-axis forward direction, α is less than zero
The angle of car body and X-axis positive direction, when β is greater than α, γ value is positive, and otherwise value is negative.
S2, it is keeping steering wheel linear velocity constant, by the computation model of current pose deviation input steering wheel drift angle, is exporting rudder
Wheel is in the drift angle of subsequent time.
In embodiments of the present invention, acquisition methods combination Fig. 4 and Fig. 5 of the computation model of steering wheel drift angle are illustrated, tool
Body includes the following steps:
S21, driven wheel center is projected on desired trajectory, obtains subpoint O, using O point as origin, subpoint O
It is X-axis with the straight line where driven wheel center (the A point in Fig. 4), desired trajectory is Y-axis, based on parameter h in Y-axis positive direction
Determine that puppet target point B, i.e. OB are pseudo- target range, h is empirical parameter, related to H；
S22, planning steering wheel in the driving path of subsequent time, the i.e. camber line of steering wheel point from current location to B, the camber line with
Fork truck driving direction is tangent；
The turning radius computation model of S23, the building driving path, obtain steering wheel based on turning radius computation model
Drift angle computation model.
R2=BC2=CE2+BE2 (10)
CE=CD-DE=CD-OA=Rcos (γ)-d (11)
EB=OB-OE=OB-AD=h-Rsin (γ) (12)
The turning radius computation model of driving path can be released by (8) (9) (10):
Wherein, d > 0, γ > 0, h > 0；
And then in conjunction with formula (1) it is found that the computation model of steering wheel drift angle:
Similarly, as d > 0 and the above formula of γ≤0 is also set up, as d < 0 and 0 above formula of γ > is also set up, when on d < 0 and γ≤0
Formula is also set up, when 0 above formula of d=0 and γ > is also set up, when 0 above formula of d=0 and γ < is also set up.
Trajectory predictions analysis: as d > 0 and γ > arctan (- d/h), the R > 0 known to formula (11), by formula (1)
(2) it is found that θ > 0, ω > 0；The α known to formula (3) is being gradually increased again；The γ known to formula (8) is being gradually reduced again,
Equal to 0, then less than 0, until γ=arctan (- d/h)；During this period, d is consistently greater than 0.
As fork truck pose d > 0 and γ=arctan (- d/h), by formula (13) it is found that R is infinitely great, steering wheel bias angle theta=
0, i.e. the amendment track is straight line.In the moment that fork truck is travelled along straight path, γ is constant, and d reduces, hsin (γ)+dcos
(γ) < 0.
As fork truck pose d > 0 and γ < arctan (- d/h), track is as shown in figure 5, its geometrical relationship can analogy public affairs
Formula (10) (11) (12), and then can refer to the relationship between formula (13), formula (14) reckoning d, γ, h, R, θ.
As d > 0 and γ < arctan (- d/h), the R < 0 known to formula (13), by formula (1) and (2) it is found that θ <
0, ω < 0；The α known to formula (3) is being gradually reduced again；Be gradually increased again by γ known to formula (8), until d be equal to 0 (
During this, 0) γ is consistently less than；After d is less than 0 (γ < 0 at this time), by formula (1) and formula (13) it is found that working as pose deviation
When taking (d, γ) and (- d ,-γ) respectively, two fork truck amendment tracks are symmetrical about desired trajectory, so track trend can thereafter
The case where when with reference to d > 0 and γ > 0.
When taking (d, γ) and (- d ,-γ) respectively due to pose deviation, two fork truck amendment tracks are about desired trajectory pair
Claim, so: when the track trend as d < 0 and γ < arctan (- d/h) can refer to d > 0 and γ > arctan (- d/h)
Trajectory predictions analysis；
When track trend as d < 0 and γ=arctan (- d/h) can refer to d > 0 and γ=arctan (- d/h)
Trajectory predictions analysis；
When track trend as d < 0 and γ > arctan (- d/h) can refer to d > 0 and γ < arctan (- d/h)
Trajectory predictions analysis；
As d=0 and γ > 0, d will be greater than 0 at once, and track trend hereafter can refer to track when d > 0 and γ > 0
Forecast analysis；
As d=0 and γ < 0, d will be at once less than 0, and track trend hereafter can refer to track when d > 0 and γ < 0
Forecast analysis.
The straight line path bootstrap technique of list steering wheel postposition driving mobile platform provided by the invention has the following beneficial effects:
1. construct the computation model of steering wheel drift angle by the relevant parameter of fork truck, by the computation model of steering wheel drift angle come
The drift angle of steering wheel is adjusted towards desired trajectory direction running, the dependence to empirical parameter is reduced, improves the guidance of mobile platform
Precision shortens adjustment distance, reduces overshoot；
2. being convenient for the debugging of empirical parameter h based on determining steering wheel drift angle computation model；
According to the truth of fork truck, the space D=500mm for taking two driven wheels, steering wheel are between two driven wheel centers
Away from H=1300mm, the linear velocity v=30m/min of active steering wheel, control cycle T=0.1s, initial pose deviation d=15cm, separately
Outside, h takes 20cm, 40cm, 60cm respectively, and initial pose misalignment angle γ takes -20 °, -10 °, 0 °, 10 °, 20 °, part respectively
Path curves are respectively as shown in Fig. 6, Fig. 7 and Fig. 8, it was found from from Fig. 6 to Fig. 8: as h=20cm, track absolute convergence, and
Maximum deviation is less than 0.6cm, and convergence distance is less than 120cm；When h is constant, γ=0 ° when, maximum deviation gets minimum value；When h not
When change, γ increase, convergence distance increases；When γ is constant, and h increases, maximum deviation and convergence distance increase.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (4)
1. a kind of straight line path bootstrap technique of list steering wheel postposition driving mobile platform, which is characterized in that the method includes such as
Lower step:
The current pose deviation of S1, real-time detection fork truck, the pose deviation include: to deviate the lateral distance d of desired trajectory, fork
Vehicle car body currently deviates the angle γ of desired trajectory；
S2, keep the linear velocity of steering wheel constant, by the computation model of current pose deviation input steering wheel drift angle, output steering wheel exists
The drift angle of subsequent time.
2. the straight line path bootstrap technique of list steering wheel postposition driving mobile platform as described in claim 1, which is characterized in that described
The construction method of steering wheel drift angle computation model includes the following steps:
S21, driven wheel center is projected on desired trajectory, obtain subpoint O, using O point as origin, with subpoint O with
Straight line where driven wheel center is X-axis, and desired trajectory is Y-axis, determines puppet target point B in Y-axis positive direction based on parameter h；
S22, planning steering wheel are in the driving path of subsequent time, the i.e. camber line of steering wheel point from current location to B, the camber line and fork truck
Driving direction is tangent；
The turning radius computation model of S23, the building driving path, steering wheel drift angle is obtained based on turning radius computation model
Computation model.
3. the straight line path bootstrap technique of list steering wheel postposition driving mobile platform as claimed in claim 1 or 2, which is characterized in that
The computation model of the steering wheel drift angle is specifically expressed as follows:
Wherein, H is active steering wheel to the spacing at driven wheel center, and h is empirical parameter, related to H.
4. the straight line path bootstrap technique of list steering wheel postposition driving mobile platform as claimed in claim 2, which is characterized in that described
Turning radius computation model is expressed as follows:
Wherein, h is empirical parameter, related to H.
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| CN111679676A (en) * | 2020-06-19 | 2020-09-18 | 重庆大学 | AGV movement track control method |
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| CN111679676A (en) * | 2020-06-19 | 2020-09-18 | 重庆大学 | AGV movement track control method |
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