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工程设计学报
工程设计学报  2018, Vol. 25 Issue (5): 546-552    DOI: 10.3785/j.issn.1006-754X.2018.05.008
保质设计     
全向自动导引车导向机构设计及其运动控制研究
贾慧波1, 李程宇2, 吴晓君1, 刘小青2, 李彦磊1
1. 西安建筑科技大学 机电工程学院, 陕西 西安 710000;
2. 中国科学院 深圳先进技术研究院, 广东 深圳 518000
Guidance mechanism design of omnidirectional AGV and its motion control research
JIA Hui-bo1, LI Cheng-yu2, WU Xiao-jun1, LIU Xiao-qing2, LI Yan-lei1
1. College of Mechanical and Electrical Engineering, Xi'an University of Architecture and Technology, Xi'an 710000, China;
2. Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518000, China
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摘要：

针对麦克纳姆轮加工复杂，运动效率低，承载能力较弱及容易出现振动、打滑等问题，研发了基于轮毂电机的自动导引车（automatic guided vehicle，AGV）全转向导向机构，并根据该导向机构的控制方式——四轮独立驱动和四轮独立转向（4WID-4WIS）的方式，对该全向AGV进行了运动控制研究。首先，构建了该全转向导向机构的运动学模型，并进行了运动学分析，得出不同转向模式下全向AGV转速与转角之间的关系。其次，为消除该全向AGV移动时产生的路径偏差，提出了基于多步预测最优控制和模糊控制的联合路径跟踪控制技术，以提高控制精度和为路径跟踪提供充足的纠偏能力；进行了转向电机和轮毂电机之间的解耦控制，保证了转向电机和轮毂电机具有良好的输入输出响应。最后，通过实车实验验证了该全转向导向机构具有良好的运动效果，能够满足实际工况的要求，可为AGV在工业领域的应用提供一定的参考。
关键词： 4WID-4WIS;  全转向导向机构;  全向运动学模型;  路径跟踪;  解耦控制    
Abstract:

Aiming at the problems that include the complex processing, low movement efficiency, weak bearing capacity, vibration and slippage of the Mecanum wheel, a full steering guidunce mechanism based on in-wheel motor was studied. The motion control of omnidirectional AGV based on four-wheel independent steering and four-wheel independent driving (4WID-4WIS) technology was researched. Firstly, a kinematics model of the full steering guidance mechanism was constructed, and kinematics analysis was performed to obtain the relationship between rotation speed and rotation angle of omnidirectional AGV under different steering modes. Secondly, path tracking technique based on multi-step predictive optimal control and fuzzy control was used to eliminate the path deviation of the omnidirectional AGV. The combined control improved the control accuracy and provided adequate rectification capability for path tracking. The decoupling control between the steering motor and in-wheel motor was carried out to ensure good input and output response. Finally, the real-vehicle experiment proved that the full-steering moving mechanism had a good movement effect and could meet the requirements of working conditions, which provided a certain reference for the application of AGV in the industrial field.
Key words: 4WID-4WIS    full steering guidance mechanism    omnidirectional kinematics model    path tracking    decoupling control
收稿日期: 2018-04-19 出版日期: 2018-10-28
CLC:  TP249  
基金资助:

深圳市发展改革委员会基金资助项目（Y7D004）
通讯作者: 吴晓君(1964-),女,陕西西安人,教授,博士,从事机械电子与先进制造系统研究,E-mail:wuxiaojunokok@163.com,https://orcid.org/0000-0002-1252-7526     E-mail: wuxiaojunokok@163.com
作者简介: 贾慧波(1991-),男,河南开封人,硕士生,从事智能移动平台设计及运动控制研究,E-mail:823800768@qq.com
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引用本文:

贾慧波, 李程宇, 吴晓君, 刘小青, 李彦磊. 全向自动导引车导向机构设计及其运动控制研究[J]. 工程设计学报, 2018, 25(5): 546-552.

JIA Hui-bo, LI Cheng-yu, WU Xiao-jun, LIU Xiao-qing, LI Yan-lei. Guidance mechanism design of omnidirectional AGV and its motion control research[J]. Chinese Journal of Engineering Design, 2018, 25(5): 546-552.

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https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2018.05.008    或    https://www.zjujournals.com/gcsjxb/CN/Y2018/V25/I5/546

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