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基于負(fù)載特性的自動(dòng)引導(dǎo)車轉(zhuǎn)向偏差補(bǔ)償方法
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    摘要:

    設(shè)計(jì)了一種簡(jiǎn)單實(shí)用的測(cè)量AGV負(fù)載特性的方法,，即通過(guò)測(cè)量車體的縱向傾角間接推算轉(zhuǎn)彎時(shí)負(fù)載給AGV帶來(lái)的附加力矩,，并針對(duì)2輪差速驅(qū)動(dòng)的6輪AGV的結(jié)構(gòu)，進(jìn)行了動(dòng)力學(xué)的理論分析和推導(dǎo)，在AGV上進(jìn)行了現(xiàn)場(chǎng)的實(shí)驗(yàn)研究，找出了附加力矩對(duì)操舵角的影響和相應(yīng)的補(bǔ)償修正系數(shù)。實(shí)驗(yàn)結(jié)果表明，該方法在一定程度上消除了縱向不對(duì)稱負(fù)載對(duì)AGV軌跡跟蹤精度的影響。

    Abstract:

    A simple and practical method to measure the load of AGV(automated guided vehicle), which calculated the additional torque of the load through measuring longitudinal obliquity of AGV, was adopted. Dynamic theoretical analysis and mathematical model on a two-wheel-driven AGV have been completed. By experimental researches in working place, the compensation coefficient and the relationship between orientation angle and additional torque were obtained. The test results showed that trace tracking errors of AGV brought by longitudinal unsymmetrical loads could be eliminated to some extent by using this method. 

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林義忠,王新華,陳遠(yuǎn)玲,黃玉美.基于負(fù)載特性的自動(dòng)引導(dǎo)車轉(zhuǎn)向偏差補(bǔ)償方法[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2008,39(4):122-124.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(4):122-124.

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