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CN-122018287-A - AGV joint control method and device

CN122018287ACN 122018287 ACN122018287 ACN 122018287ACN-122018287-A

Abstract

The invention discloses an AGV joint control method and device, which comprises the steps of firstly constructing an AGV pose state equation and a servo motor model which take the midpoint of a central connecting line of a left driving wheel and a right driving wheel as a reference point, establishing full-link quantitative association of motor input to the AGV pose, constructing an AGV internal model according to the full-link quantitative association, configuring an IMC-PID control unit, acquiring a driving path image, processing and extracting a path central line, calculating the position and angle deviation of the AGV relative to the central line, inputting the deviation into the IMC-PID control unit, calculating the speed adjustment quantity of the left driving wheel and the right driving wheel, inputting the speed adjustment quantity into a driving system, correcting the AGV pose through adjusting differential rotation speed, and acquiring the real-time pose and the rotation speed of the driving wheel to form double-feedback closed-loop control. The AGV pose dynamic correction method can realize AGV pose dynamic correction, and effectively improve track tracking precision, response speed and system anti-interference capability.

Inventors

  • ZHANG CHUNHONG
  • ZHANG JIFEI

Assignees

  • 厦门工学院

Dates

Publication Date
20260512
Application Date
20260413

Claims (10)

  1. 1. The AGV joint control method is characterized by comprising the following steps of: establishing a full-link quantized association of motor input to the position and the pose of the AGV based on the AGV position and pose state equation and the servo motor model, constructing an AGV internal model according to the full-link quantized association, and configuring an IMC-PID control unit; Acquiring an image of an AGV driving path, processing the image to obtain a central line of the path, and calculating deviation information of the position and the angle of the AGV relative to the central line; inputting the deviation information into the IMC-PID control unit, and calculating the speed adjustment quantity of the left and right driving wheels of the AGV in real time by the IMC-PID control unit according to the deviation and the change rate; And transmitting the speed adjustment quantity to a driving system of the AGV, dynamically correcting the pose of the AGV by adjusting the differential rotation speed of the left and right driving wheels, collecting the real-time pose of the AGV and the real-time speed of the left and right driving wheels as feedback signals, and inputting the feedback signals to the IMC-PID control unit to form closed-loop control.
  2. 2. The method of claim 1 wherein the AGV is of a two-speed differential structure, the AGV pose state equation is obtained by discretizing an AGV kinematic model by combining discrete time representation with euler approximation, and the pose state equation includes quantized correlations of an AGV heading angle, a plane displacement and left and right driving wheel angular speeds.
  3. 3. The AGV joint control method according to claim 1 wherein the servo motor model is a three-ring vector control model of the position, the speed and the current of a permanent magnet synchronous motor, a d-q axis method is adopted to establish the voltage, the torque and the motion equation of a driving motor, the regulation rule of the input voltage of the motor to the angular speed of a driving wheel is defined, and a motor side quantization basis is provided for establishment of full-link quantization association.
  4. 4. The AGV joint control method according to claim 1, wherein the full-link quantized association is a secondary quantized association of motor input to angular speed of a driving wheel and angular speed of the driving wheel to position and pose of the AGV, full-link motion characteristic mapping of motor input to position and pose of the AGV is achieved, and the AGV internal model is a digitized abstract model of the full-link quantized association and matches actual motion dynamic characteristics of the AGV.
  5. 5. The AGV joint control method according to claim 1, wherein the processing of the path image is sequentially weighted average method graying, median filtering denoising, ojin method binarization, canny algorithm edge extraction and progressive scan fitting, the weighted average method configures different weights for red, green and blue components of the image according to human brightness perception characteristics, and the progressive scan fitting obtains a continuous path center line by calculating midpoint coordinates of left and right edge points of the path and fitting.
  6. 6. The AGV joint control method according to claim 1, wherein the deviation information of the position and the angle is obtained by respectively calculating the geometric position comparison of the self-positioning reference of the AGV and the path center line and the comparison of the traveling heading of the AGV and the extending direction of the path center line, and provides a deviation quantification basis for pose correction.
  7. 7. The method for controlling the AGV according to claim 1, wherein the IMC-PID control unit is configured with a first order filter, predicts the pose change trend of the AGV under different speed adjustment amounts based on an internal model of the AGV, and calculates the independent speed adjustment amounts of the left and right driving wheels by combining the proportional adjustment of the deviation magnitude and the differential adjustment of the deviation change rate, thereby realizing the combination of feedforward prediction and feedback adjustment.
  8. 8. The AGV joint control method according to claim 1, wherein the differential rotation speeds of the left and right driving wheels are adjusted, specifically, non-constant independent rotation speed adjustment and control are performed on the driving wheels at two sides according to independent speed adjustment amounts of the left and right driving wheels, course angle correction of the AGV is achieved through rotation speed differences of the driving wheels at two sides, position offset correction of the AGV is achieved through synchronous increase and decrease of the rotation speeds of the driving wheels at two sides, and collaborative dynamic correction of pose is completed.
  9. 9. The method for controlling the AGV in combination according to claim 1, wherein the closed-loop control formed by the feedback signals is a double-feedback closed-loop control, the real-time pose signal of the AGV is used for correcting the track deviation of the AGV, the real-time speed signals of the left driving wheel and the right driving wheel are used for correcting the execution deviation of the driving system, and the signal acquisition frequency of the double-feedback closed-loop control is matched with the resolving frequency of the IMC-PID control unit, so that the real-time correction of the deviation is realized.
  10. 10. An AGV joint control apparatus, comprising: the model construction module is used for constructing an AGV pose state equation by taking the midpoint of the central connecting line of the left driving wheel and the right driving wheel as a reference point for the AGV, constructing a servo motor model for the AGV driving motor, establishing full-link quantitative association of motor input to the AGV pose based on the AGV pose state equation and the servo motor model, constructing an AGV internal model according to the full-link quantitative association and configuring an IMC-PID control unit; the visual processing module is used for collecting images of the AGV driving path, processing the images to obtain a central line of the path and calculating deviation information of the position and the angle of the AGV relative to the central line; the control resolving module is connected with the visual processing module and the model construction module and is used for receiving the deviation information and transmitting the deviation information to the IMC-PID control unit, and resolving the speed adjustment quantity of the left driving wheel and the right driving wheel of the AGV in real time according to the deviation and the change rate through the IMC-PID control unit; the driving correction module is connected with the control calculation module and is used for receiving the speed adjustment quantity and transmitting the speed adjustment quantity to a driving system of the AGV, dynamically correcting the position and the posture of the AGV by adjusting the differential rotation speed of the left driving wheel and the right driving wheel, and simultaneously collecting the real-time position and the real-time speed of the left driving wheel and the right driving wheel of the AGV as feedback signals and transmitting the feedback signals to the IMC-PID control unit to form closed-loop control.

Description

AGV joint control method and device Technical Field The invention relates to the field of AGVs, in particular to an AGV joint control method and device. Background An Automatic Guided Vehicle (AGV) is core automation equipment in the fields of intelligent manufacturing, logistics storage and the like, the track tracking precision and the motion stability of autonomous navigation of the AGV directly determine the operation efficiency and the operation safety of an automation system, and the control core of the AGV is to realize pose accurate correction by regulating and controlling the rotation speed of a driving wheel so as to ensure stable running along a preset path. The current AGV control scheme has the technical problems that a kinematic or driving motor model is independently built during modeling, a model support adapting to actual motion characteristics is lacking, control basis is insufficient, processing and deviation detection of a path image are easy to be interfered by environment, accuracy is difficult to ensure, reliable guide information cannot be provided, a PID controller adopted by the main stream is often difficult to meet requirements due to influence effects of environment complexity in actual operation, distance errors and angle errors are difficult to quickly eliminate, a driving track is easy to bend in a larger radian, various improved control algorithms or calculation amount are large, instantaneity is poor, or anti-interference capability is weak, parameter adaptability is poor, and overall track tracking effect is poor. Meanwhile, the dynamic characteristics of the AGV are time-varying and nonlinear, the AGV is easily influenced by uncertain factors such as ground friction and load fluctuation, the linkage of the existing navigation sensing and control links is insufficient, the response speed, the control precision and the anti-interference capability of track tracking are difficult to be considered, the robustness of the system is poor, the high-precision and high-stability operation requirements of the AGV under complex working conditions cannot be met, and the AGV becomes a technical problem to be solved in the industry. Disclosure of Invention The invention mainly aims to overcome the defects that AGV modeling in the prior art lacks of quantitative association of motor input and pose, visual deviation detection precision is insufficient, PID control is slow in elimination of environmental influence errors, track is easy to deflect and poor in perception and control linkage, and provides an AGV joint control method and device, so that the dynamic correction of the AGV pose is realized, and the track tracking precision, response speed and anti-interference capability are improved. The invention adopts the following technical scheme: an AGV joint control method comprises the following steps: establishing a full-link quantized association of motor input to the position and the pose of the AGV based on the AGV position and pose state equation and the servo motor model, constructing an AGV internal model according to the full-link quantized association, and configuring an IMC-PID control unit; Acquiring an image of an AGV driving path, processing the image to obtain a central line of the path, and calculating deviation information of the position and the angle of the AGV relative to the central line; inputting the deviation information into the IMC-PID control unit, and calculating the speed adjustment quantity of the left and right driving wheels of the AGV in real time by the IMC-PID control unit according to the deviation and the change rate; And transmitting the speed adjustment quantity to a driving system of the AGV, dynamically correcting the pose of the AGV by adjusting the differential rotation speed of the left and right driving wheels, collecting the real-time pose of the AGV and the real-time speed of the left and right driving wheels as feedback signals, and inputting the feedback signals to the IMC-PID control unit to form closed-loop control. The AGV is of a two-speed differential structure, the position and pose state equation of the AGV is obtained by discretizing an AGV kinematic model through a method combining discrete time representation with Euler approximation, and the position and pose state equation comprises quantized association relations of an AGV course angle, plane displacement and left and right driving wheel angular speeds. The servo motor model is a three-ring vector control model of the position, the speed and the current of the permanent magnet synchronous motor, a d-q axis method is adopted to establish the voltage, the torque and the motion equation of the driving motor, the regulation and control rule of the motor input voltage on the angular speed of the driving wheel is defined, and a motor side quantization basis is provided for establishment of full-link quantization association. The full-link quantized association is a two-level quantize