CN113911177B - Linear reciprocating RGV curve speed regulation method and system - Google Patents
Linear reciprocating RGV curve speed regulation method and system Download PDFInfo
- Publication number
- CN113911177B CN113911177B CN202111196806.9A CN202111196806A CN113911177B CN 113911177 B CN113911177 B CN 113911177B CN 202111196806 A CN202111196806 A CN 202111196806A CN 113911177 B CN113911177 B CN 113911177B
- Authority
- CN
- China
- Prior art keywords
- curve
- acceleration
- cosine
- running
- rgv
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000001133 acceleration Effects 0.000 claims abstract description 145
- 230000009193 crawling Effects 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 66
- 230000004069 differentiation Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 10
- 230000001276 controlling effect Effects 0.000 description 6
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Landscapes
- Numerical Control (AREA)
- Feedback Control In General (AREA)
Abstract
The invention relates to a linear reciprocating RGV curve speed regulation method and a system, which are characterized in that a starting point position and an end point position are firstly obtained, and a travel value is further obtained; then comparing the travel value with a curve set point, and controlling RGV crawling if the travel value is smaller than the curve set point; if the travel value is greater than or equal to the curve set value, performing trapezoidal addition and subtraction operation based on the maximum travel speed, the acceleration and the travel value to obtain a trapezoidal operation curve; performing cosine fitting on the trapezoidal curve to obtain a cosine running curve; RGV driving is controlled based on the cosine running curve. According to the invention, the RGV continuous and conductive running speed planning is determined based on the cosine curve, so that the running fluency of the RGV is improved, and the performance requirement on a controller is reduced.
Description
Technical Field
The invention relates to the technical field of rail vehicles, in particular to a linear reciprocating RGV curve speed regulation method and system.
Background
In recent years, with the increasing level of mechanical automation in industry, a guided vehicle (Rail Guided Vehicle, abbreviated as RGV) plays a role in logistics industry, and the existing linear reciprocating RGV control method is generally based on two modes of controller positioning and driver positioning.
The controller positioning has the advantages that a high-performance driver with a positioning function is not needed to be selected by the driving system, the controller refreshes the speed set value to the driving through a fixed interpolation period, the sensor with position feedback is naturally not limited by the driving, and the overall cost is low. The method has the disadvantages that the program is complex, the performance requirement on the controller is high, the final positioning is realized by crawling due to the limitation of the controller, the 0-speed stopping cannot be realized, the existing method is all sectional calculation, the connecting point is not conductive, and the speed is suddenly changed.
The driver positioning has the advantages that the control program is relatively simple, the positioning function can be realized only by setting the target position and speed by the program, and finally, the 0-speed stop can be realized. The disadvantage is that the position feedback sensor is required to select the version of the SSI bus or the like, and the cost of the driver is high.
Disclosure of Invention
In view of this, the invention provides a linear reciprocating RGV curve speed regulating method and system, which can release the controller performance resource occupation as much as possible on the premise of ensuring the curve function so as to reduce the controller cost.
In order to achieve the above object, the present invention provides the following solutions:
a linear reciprocating RGV curve speed regulation method, comprising:
acquiring a starting point position and an end point position, and further acquiring a travel value;
comparing the travel value with a curve set point, and controlling RGV crawling if the travel value is smaller than the curve set point; if the travel value is greater than or equal to the curve set value, executing the following steps;
performing trapezoidal addition and subtraction operation based on the maximum running speed, the acceleration and the travel value to obtain a trapezoidal running curve;
performing cosine fitting on the trapezoidal curve to obtain a cosine running curve; RGV driving is controlled based on the cosine running curve.
Preferably, the method further comprises:
and when the RGV is controlled to run based on the cosine running curve, acquiring a running error value in real time, and performing PID (proportion integration differentiation) adjustment on the RGV based on the running error value.
Preferably, the trapezoidal operation curve is obtained by performing trapezoidal addition and subtraction operation based on the acceleration, the starting point position and the ending point position, specifically:
obtaining a first acceleration running time based on the maximum running speed and the acceleration, and further obtaining a first acceleration running displacement;
judging the first acceleration driving displacement and the travel value;
when the first acceleration driving displacement is twice larger than the travel value, determining that RGV driving is divided into an acceleration stage, a constant speed stage and a deceleration stage, and determining a first acceleration curve, a constant speed curve and a first deceleration curve by adopting trapezoidal addition and subtraction based on the maximum driving speed, the travel value and the acceleration, so as to obtain a first trapezoidal graph;
when the first acceleration running displacement is twice and is equal to the travel value, determining that RGV running is divided into an acceleration stage and a deceleration stage, and determining a second acceleration curve and a second deceleration curve by adopting trapezoidal addition and subtraction based on the maximum running speed, the first acceleration running displacement and the acceleration, so as to obtain a second trapezoidal graph;
when the first acceleration driving displacement is twice smaller than the stroke value, determining that RGV driving is divided into an acceleration stage and a deceleration stage, determining second acceleration driving displacement based on the stroke value, determining a third acceleration curve and a third deceleration curve based on the second acceleration driving displacement and the acceleration by adopting trapezoidal addition and subtraction, and further obtaining a third trapezoidal graph; the trapezoid operation curve is the first trapezoid graph, the second trapezoid graph or the third trapezoid graph.
Preferably, the cosine fitting is performed on the trapezoidal curve to obtain a cosine running curve; controlling RGV running based on the cosine running curve, specifically:
when the twice first acceleration driving displacement is larger than the travel value, performing cosine fitting on the first trapezoidal graph to obtain a first cosine graph;
when the first acceleration driving displacement is twice and is equal to the travel value, performing cosine fitting on the second trapezoidal graph to obtain a second cosine graph;
when the twice first acceleration driving displacement is smaller than the travel value, performing cosine fitting on the third trapezoidal graph to obtain a third cosine graph; the cosine running curve is the first cosine map, the second cosine map or the third cosine map;
RGV driving is controlled based on the cosine running curve.
The invention also provides a linear reciprocating RGV curve speed regulation system, which comprises:
the travel value module is used for acquiring a starting point position and an end point position and further obtaining a travel value;
the judging module is used for comparing the travel value with a curve set value, and controlling RGV crawling if the travel value is smaller than the curve set value; if the travel value is greater than or equal to the curve set value, executing a trapezoidal operation module;
the trapezoid operation module is used for performing trapezoid addition and subtraction operation based on the maximum running speed, the acceleration and the travel value to obtain a trapezoid running curve;
the cosine operation module is used for performing cosine fitting on the trapezoidal curve to obtain a cosine operation curve; RGV driving is controlled based on the cosine running curve.
Preferably, the system further comprises:
and the PID regulation module is used for acquiring an operation error value in real time when the RGV is controlled to run based on the cosine operation curve, and carrying out PID regulation on the RGV based on the operation error value.
Preferably, the trapezoidal operation module specifically includes:
obtaining a first acceleration running time based on the maximum running speed and the acceleration, and further obtaining a first acceleration running displacement;
judging the first acceleration driving displacement and the travel value;
when the first acceleration driving displacement is twice larger than the travel value, determining that RGV driving is divided into an acceleration stage, a constant speed stage and a deceleration stage, and determining a first acceleration curve, a constant speed curve and a first deceleration curve by adopting trapezoidal addition and subtraction based on the maximum driving speed, the travel value and the acceleration, so as to obtain a first trapezoidal graph;
when the first acceleration running displacement is twice and is equal to the travel value, determining that RGV running is divided into an acceleration stage and a deceleration stage, and determining a second acceleration curve and a second deceleration curve by adopting trapezoidal addition and subtraction based on the maximum running speed, the first acceleration running displacement and the acceleration, so as to obtain a second trapezoidal graph;
when the first acceleration driving displacement is twice smaller than the stroke value, determining that RGV driving is divided into an acceleration stage and a deceleration stage, determining second acceleration driving displacement based on the stroke value, determining a third acceleration curve and a third deceleration curve based on the second acceleration driving displacement and the acceleration by adopting trapezoidal addition and subtraction, and further obtaining a third trapezoidal graph; the trapezoid operation curve is the first trapezoid graph, the second trapezoid graph or the third trapezoid graph.
Preferably, the cosine operation module specifically includes:
when the twice first acceleration driving displacement is larger than the travel value, performing cosine fitting on the first trapezoidal graph to obtain a first cosine graph;
when the first acceleration driving displacement is twice and is equal to the travel value, performing cosine fitting on the second trapezoidal graph to obtain a second cosine graph;
when the twice first acceleration driving displacement is smaller than the travel value, performing cosine fitting on the third trapezoidal graph to obtain a third cosine graph; the cosine running curve is the first cosine map, the second cosine map or the third cosine map;
RGV driving is controlled based on the cosine running curve.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention relates to a linear reciprocating RGV curve speed regulation method and a system, which are characterized in that a starting point position and an end point position are firstly obtained, and a travel value is further obtained; then comparing the travel value with a curve set point, and controlling RGV crawling if the travel value is smaller than the curve set point; if the travel value is greater than or equal to the curve set value, performing trapezoidal addition and subtraction operation based on the maximum travel speed, the acceleration and the travel value to obtain a trapezoidal operation curve; performing cosine fitting on the trapezoidal curve to obtain a cosine running curve; RGV driving is controlled based on the cosine running curve. According to the invention, the RGV continuous and conductive running speed planning is determined based on the cosine curve, so that the running fluency of the RGV is improved, and the performance requirement on a controller is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a linear reciprocating RGV curve speed regulation method of the present invention;
FIG. 2 is a first ladder diagram and a first cosine diagram illustration of the present invention;
FIG. 3 is a third ladder diagram and a third cosine diagram illustration of the present invention;
fig. 4 is a diagram of a linear reciprocating RGV curve speed regulation system of the present invention.
Symbol description: 1-stroke value module, 2-judgement module, 3-trapezoidal operation module and 4-cosine operation module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a linear reciprocating RGV curve speed regulating method and system, which release the performance resource occupation of a controller as much as possible on the premise of ensuring the curve function so as to reduce the cost of the controller.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
FIG. 1 is a flow chart of a curve speed regulation method of the linear reciprocating RGV. As shown in the figure, the invention provides a linear reciprocating RGV curve speed regulation method, which comprises the following steps:
step S1, acquiring a starting point position and an end point position, and further obtaining a travel value. The starting point position is an actual position value uploaded by a laser ranging or bar code locator; the end point position is the target point position of the current task stage, if no load exists currently, the target position is the goods taking coordinate, if goods are taken currently, the target position is the target point that the materials need to be transported to reach. The stroke value calculation formula is as follows:
P L ＝|P S -P E |；
wherein P is L For the run value, P S As the starting point position, P E Is the end position.
Step S2, comparing the travel value with a curve set value, and if the travel value is smaller than the curve set value, controlling the RGV to mechanically crawl; if the stroke value is greater than or equal to the curve set point, step S3 is performed. In this embodiment, the curve set point is 0.5m.
And step S3, performing trapezoidal addition and subtraction operation based on the maximum running speed, the acceleration and the travel value to obtain a trapezoidal running curve.
As an optional embodiment, the step S3 specifically includes:
obtaining a first acceleration running time based on the maximum running speed and the acceleration, and further obtaining a first acceleration running displacement;
and judging the first acceleration driving displacement and the travel value.
When the first acceleration driving displacement is twice larger than the stroke value, determining that RGV driving is divided into an acceleration stage, a uniform velocity stage and a deceleration stage, and determining a first acceleration curve, a uniform velocity curve and a first deceleration curve by adopting trapezoidal addition and subtraction based on the maximum driving speed, the stroke value and the acceleration, so as to obtain a first trapezoidal graph.
When the first acceleration running displacement is twice and is equal to the travel value, determining that RGV running is divided into an acceleration stage and a deceleration stage, and determining a second acceleration curve and a second deceleration curve by adopting trapezoidal addition and subtraction based on the maximum running speed, the first acceleration running displacement and the acceleration, so as to obtain a second trapezoidal graph.
When the first acceleration driving displacement is twice smaller than the stroke value, determining that RGV driving is divided into an acceleration stage and a deceleration stage, determining second acceleration driving displacement based on the stroke value, determining a third acceleration curve and a third deceleration curve based on the second acceleration driving displacement and the acceleration by adopting trapezoidal addition and subtraction, and further obtaining a third trapezoidal graph; the trapezoid operation curve is the first trapezoid graph, the second trapezoid graph or the third trapezoid graph.
S4, performing cosine fitting on the trapezoidal curve to obtain a cosine running curve; RGV driving is controlled based on the cosine running curve.
As an optional embodiment, the step S4 specifically includes:
and when the twice first acceleration driving displacement is larger than the travel value, performing cosine fitting on the first trapezoidal graph to obtain a first cosine graph. Specifically, the calculation formula of the acceleration stage is:
wherein: v (t) For the travel speed at time t, v 0 At an initial speed v m For maximum driving speed, t m To accelerate the time.
Since the linear reciprocating RGV acquires the starting point position and the end point position of the task in advance every time the cultural relics are executed, the initial speed of the moving process along the track direction is considered to be 0, and the end point speed is also considered to be 0, thus when v 0 When=0, the above formula is simplified as:
and when the first acceleration driving displacement is twice and is equal to the travel value, performing cosine fitting on the second trapezoidal graph to obtain a second cosine graph. Constant velocity stage v (t) ＝v m 。
When the twice first acceleration driving displacement is smaller than the travel value, performing cosine fitting on the third trapezoidal graph to obtain a third cosine graph; the cosine running curve is the first cosine map, the second cosine map or the third cosine map. The calculation formula of the deceleration stage is as follows:
RGV driving is controlled based on the cosine running curve.
As an alternative embodiment, the method of the present invention further comprises:
and when the RGV is controlled to run based on the cosine running curve, acquiring a running error value in real time, and performing PID (proportion integration differentiation) adjustment on the RGV based on the running error value.
Specifically, for example, when the stroke value is 10m, the acceleration is 1m/s 2 The first ladder diagram and the first cosine diagram at a maximum travel speed of 2.67m/s are shown in fig. 2.
When the stroke is 4m, the acceleration is 1m/s 2 Maximum speed 2.67m/s, unable to accelerate to maximum, and decelerating after reaching 2m/s, and third ladder diagram and third cosine diagram as shown in figure 3.
Fig. 4 is a diagram of a linear reciprocating RGV curve speed regulation system of the present invention. As shown, the present invention provides a linear reciprocating RGV curve speed regulation system, comprising: the device comprises a stroke value module 1, a judging module 2, a trapezoid operation module 3 and a cosine operation module 4.
The stroke value module 1 is used for acquiring a starting position and an ending position, and further obtaining a stroke value.
The judging module 2 is used for comparing the travel value with a curve set value, and controlling RGV crawling if the travel value is smaller than the curve set value; and if the stroke value is greater than or equal to the curve set value, executing the trapezoid operation module 3.
The trapezoid operation module 3 is used for performing trapezoid addition and subtraction operation based on the maximum running speed, the acceleration and the travel value to obtain a trapezoid running curve.
The cosine operation module 4 is used for performing cosine fitting on the trapezoidal curve to obtain a cosine operation curve; RGV driving is controlled based on the cosine running curve.
As an alternative embodiment, the system of the present invention further comprises: and a PID regulating module.
The PID regulation module is used for acquiring an operation error value in real time when the RGV is controlled to run based on the cosine operation curve, and carrying out PID regulation on the RGV based on the operation error value.
As an optional implementation manner, the trapezoidal operation module 3 of the present invention specifically includes:
and obtaining a first acceleration running time based on the maximum running speed and the acceleration, and further obtaining a first acceleration running displacement.
And judging the first acceleration driving displacement and the travel value.
When the first acceleration driving displacement is twice larger than the stroke value, determining that RGV driving is divided into an acceleration stage, a uniform velocity stage and a deceleration stage, and determining a first acceleration curve, a uniform velocity curve and a first deceleration curve by adopting trapezoidal addition and subtraction based on the maximum driving speed, the stroke value and the acceleration, so as to obtain a first trapezoidal graph.
When the first acceleration running displacement is twice and is equal to the travel value, determining that RGV running is divided into an acceleration stage and a deceleration stage, and determining a second acceleration curve and a second deceleration curve by adopting trapezoidal addition and subtraction based on the maximum running speed, the first acceleration running displacement and the acceleration, so as to obtain a second trapezoidal graph.
When the first acceleration driving displacement is twice smaller than the stroke value, determining that RGV driving is divided into an acceleration stage and a deceleration stage, determining second acceleration driving displacement based on the stroke value, determining a third acceleration curve and a third deceleration curve based on the second acceleration driving displacement and the acceleration by adopting trapezoidal addition and subtraction, and further obtaining a third trapezoidal graph; the trapezoid operation curve is the first trapezoid graph, the second trapezoid graph or the third trapezoid graph.
As an alternative embodiment, the cosine operation module 4 of the present invention specifically includes:
and when the twice first acceleration driving displacement is larger than the travel value, performing cosine fitting on the first trapezoidal graph to obtain a first cosine graph.
And when the first acceleration driving displacement is twice and is equal to the travel value, performing cosine fitting on the second trapezoidal graph to obtain a second cosine graph.
When the twice first acceleration driving displacement is smaller than the travel value, performing cosine fitting on the third trapezoidal graph to obtain a third cosine graph; the cosine running curve is the first cosine map, the second cosine map or the third cosine map.
RGV driving is controlled based on the cosine running curve.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. A linear reciprocating RGV curve speed regulation method, comprising:
acquiring a starting point position and an end point position, and further acquiring a travel value;
comparing the travel value with a curve set point, and controlling RGV crawling if the travel value is smaller than the curve set point; if the travel value is greater than or equal to the curve set value, executing the following steps;
performing trapezoidal addition and subtraction operation based on the maximum running speed, the acceleration and the travel value to obtain a trapezoidal running curve;
cosine fitting is carried out on the trapezoid operation curve to obtain a cosine operation curve; controlling RGV running based on the cosine running curve;
the trapezoid addition and subtraction operation is carried out based on the maximum running speed, the acceleration and the travel value to obtain a trapezoid running curve, which is specifically as follows:
obtaining a first acceleration running time based on the maximum running speed and the acceleration, and further obtaining a first acceleration running displacement;
judging the first acceleration driving displacement and the travel value;
when the first acceleration driving displacement is twice larger than the travel value, determining that RGV driving is divided into an acceleration stage, a constant speed stage and a deceleration stage, and determining a first acceleration curve, a constant speed curve and a first deceleration curve by adopting trapezoidal addition and subtraction based on the maximum driving speed, the travel value and the acceleration, so as to obtain a first trapezoidal graph;
when the first acceleration running displacement is twice and is equal to the travel value, determining that RGV running is divided into an acceleration stage and a deceleration stage, and determining a second acceleration curve and a second deceleration curve by adopting trapezoidal addition and subtraction based on the maximum running speed, the first acceleration running displacement and the acceleration, so as to obtain a second trapezoidal graph;
when the first acceleration driving displacement is twice smaller than the stroke value, determining that RGV driving is divided into an acceleration stage and a deceleration stage, determining second acceleration driving displacement based on the stroke value, determining a third acceleration curve and a third deceleration curve based on the second acceleration driving displacement and the acceleration by adopting trapezoidal addition and subtraction, and further obtaining a third trapezoidal graph; the trapezoid operation curve is the first trapezoid graph, the second trapezoid graph or the third trapezoid graph.
2. The linear reciprocating RGV curve speed regulation method of claim 1, further comprising:
and when the RGV is controlled to run based on the cosine running curve, acquiring a running error value in real time, and performing PID (proportion integration differentiation) adjustment on the RGV based on the running error value.
3. The linear reciprocating RGV curve speed regulation method of claim 1, wherein the cosine fitting is performed on the trapezoidal operation curve to obtain a cosine operation curve; controlling RGV running based on the cosine running curve, specifically:
when the twice first acceleration driving displacement is larger than the travel value, performing cosine fitting on the first trapezoidal graph to obtain a first cosine graph;
when the first acceleration driving displacement is twice and is equal to the travel value, performing cosine fitting on the second trapezoidal graph to obtain a second cosine graph;
when the twice first acceleration driving displacement is smaller than the travel value, performing cosine fitting on the third trapezoidal graph to obtain a third cosine graph;
the cosine running curve is the first cosine map, the second cosine map or the third cosine map;
RGV driving is controlled based on the cosine running curve.
4. A linear reciprocating RGV curve governor system comprising:
the travel value module is used for acquiring a starting point position and an end point position and further obtaining a travel value;
the judging module is used for comparing the travel value with a curve set value, and controlling RGV crawling if the travel value is smaller than the curve set value; if the travel value is greater than or equal to the curve set value, executing a trapezoidal operation module;
the trapezoid operation module is used for performing trapezoid addition and subtraction operation based on the maximum running speed, the acceleration and the travel value to obtain a trapezoid running curve; the trapezoid operation module specifically comprises: obtaining a first acceleration running time based on the maximum running speed and the acceleration, and further obtaining a first acceleration running displacement; judging the first acceleration driving displacement and the travel value; when the first acceleration driving displacement is twice larger than the travel value, determining that RGV driving is divided into an acceleration stage, a constant speed stage and a deceleration stage, and determining a first acceleration curve, a constant speed curve and a first deceleration curve by adopting trapezoidal addition and subtraction based on the maximum driving speed, the travel value and the acceleration, so as to obtain a first trapezoidal graph; when the first acceleration running displacement is twice and is equal to the travel value, determining that RGV running is divided into an acceleration stage and a deceleration stage, and determining a second acceleration curve and a second deceleration curve by adopting trapezoidal addition and subtraction based on the maximum running speed, the first acceleration running displacement and the acceleration, so as to obtain a second trapezoidal graph; when the first acceleration driving displacement is twice smaller than the stroke value, determining that RGV driving is divided into an acceleration stage and a deceleration stage, determining second acceleration driving displacement based on the stroke value, determining a third acceleration curve and a third deceleration curve based on the second acceleration driving displacement and the acceleration by adopting trapezoidal addition and subtraction, and further obtaining a third trapezoidal graph; the trapezoid operation curve is the first trapezoid graph, the second trapezoid graph or the third trapezoid graph;
the cosine operation module is used for performing cosine fitting on the trapezoidal operation curve to obtain a cosine operation curve; RGV driving is controlled based on the cosine running curve.
5. The linear reciprocating RGV curve speed regulation system of claim 4, further comprising:
and the PID regulation module is used for acquiring an operation error value in real time when the RGV is controlled to run based on the cosine operation curve, and carrying out PID regulation on the RGV based on the operation error value.
6. The linear reciprocating RGV curve speed regulation system of claim 4, wherein the cosine operation module is specifically:
when the twice first acceleration driving displacement is larger than the travel value, performing cosine fitting on the first trapezoidal graph to obtain a first cosine graph;
when the first acceleration driving displacement is twice and is equal to the travel value, performing cosine fitting on the second trapezoidal graph to obtain a second cosine graph;
when the twice first acceleration driving displacement is smaller than the travel value, performing cosine fitting on the third trapezoidal graph to obtain a third cosine graph; the cosine running curve is the first cosine map, the second cosine map or the third cosine map;
RGV driving is controlled based on the cosine running curve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111196806.9A CN113911177B (en) | 2021-10-14 | 2021-10-14 | Linear reciprocating RGV curve speed regulation method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111196806.9A CN113911177B (en) | 2021-10-14 | 2021-10-14 | Linear reciprocating RGV curve speed regulation method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113911177A CN113911177A (en) | 2022-01-11 |
| CN113911177B true CN113911177B (en) | 2024-02-02 |
Family
ID=79240499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111196806.9A Active CN113911177B (en) | 2021-10-14 | 2021-10-14 | Linear reciprocating RGV curve speed regulation method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113911177B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106647749A (en) * | 2016-11-30 | 2017-05-10 | 上海精星仓储设备工程有限公司 | Method for precise positioning of shuttle vehicle moving in dense storage warehouse |
| KR101794690B1 (en) * | 2016-07-07 | 2017-12-01 | 한국철도기술연구원 | Tunnel inspection system having individual driving rail-guided vehicle (rgv) and inertial navigation system (ins) |
| CN109991932A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of logistics haulage equipment S curve acceleration and deceleration speed planning and control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112020000413T5 (en) * | 2019-12-03 | 2021-11-04 | Nvidia Corporation | DETECTION OF ORIENTATION POINTS USING CURVE FITTING FOR APPLICATIONS FOR AUTONOMOUS DRIVING |
-
2021
- 2021-10-14 CN CN202111196806.9A patent/CN113911177B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101794690B1 (en) * | 2016-07-07 | 2017-12-01 | 한국철도기술연구원 | Tunnel inspection system having individual driving rail-guided vehicle (rgv) and inertial navigation system (ins) |
| CN106647749A (en) * | 2016-11-30 | 2017-05-10 | 上海精星仓储设备工程有限公司 | Method for precise positioning of shuttle vehicle moving in dense storage warehouse |
| CN109991932A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of logistics haulage equipment S curve acceleration and deceleration speed planning and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113911177A (en) | 2022-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9823660B2 (en) | System for distance to stop | |
| WO2018126967A1 (en) | Method and device for planning and controlling velocity of shuttle, and shuttle | |
| CN108674184B (en) | Vehicle speed control method and system and automobile | |
| CN107757620A (en) | Method and apparatus for running automation motor vehicle | |
| CN107054366A (en) | The control device of vehicle | |
| CN109835327A (en) | Method and apparatus for running motor vehicle | |
| JP7048009B2 (en) | Vehicle control unit | |
| CN113911177B (en) | Linear reciprocating RGV curve speed regulation method and system | |
| Lin et al. | Dynamic programming for model predictive control of adaptive cruise control systems | |
| CN109313429A (en) | S type speed planning method, apparatus, system, robot and numerically-controlled machine tool | |
| Lee et al. | A unified framework of adaptive cruise control for speed limit follower and curve speed control function | |
| CN112596529B (en) | Direction-based robot walking speed adjusting method, chip and vision robot | |
| Nakonechnyi et al. | Investigation of the control law influence on the dynamic characteristics of vehicle movement control system model | |
| CN112269348B (en) | Motion control sudden stop method | |
| KR101628463B1 (en) | Device and method for controlling auto cruise of vehicle | |
| JP2018039435A (en) | Inter-vehicular distance control method and inter-vehicular distance control apparatus | |
| CN114194153B (en) | Unmanned locomotive alignment control method and device | |
| JPH1121077A (en) | Crane controller | |
| CN114620028A (en) | Automatic parking and braking control method and system and vehicle | |
| JP2016113097A (en) | Vehicle control system and vehicle control program | |
| CN114200944B (en) | Terminal deceleration method and system of mobile robot | |
| KR101906381B1 (en) | Speed pattern optimization control method for driving section of ems | |
| JP2008068863A (en) | Vehicle traffic management apparatus | |
| JP2019085017A (en) | Vehicle control device | |
| CN117429425A (en) | Unmanned vehicle control method and control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 266000 C1 / F, Zone C, Qingdao Industrial Technology Research Institute, 17 Songyuan Road, high tech Zone, Qingdao, Shandong Province Patentee after: Qingdao Huasheng Intelligent Equipment Co.,Ltd. Country or region after: China Address before: 266000 C1 / F, Zone C, Qingdao Industrial Technology Research Institute, 17 Songyuan Road, high tech Zone, Qingdao, Shandong Province Patentee before: Huasheng intelligent automation equipment Co.,Ltd. Country or region before: China |