一种双车协同搬运控制技术的研究

Study of Two-car Cooperative Handling Control Technology

针对自动导引车在运输大型复杂零部件时,存在结构强度较弱、承载不足的缺点,针对双麦克纳姆轮自动导引车平台,提出了基于Leader-Follower控制策略的协同搬运方法。详细介绍了麦克纳姆轮自动导引车的控制方法、主-从车轨迹跟踪误差模型以及为实时调整从车轨迹跟踪误差而提出的基于指数趋近率的自适应滑膜控制器。仿真结果表明,该控制器调整从车运动具有较高的实时性、精确性和鲁棒性。

Some disadvantages,such as weak structural strength and insufficient bearing capacity,exist in the automated guided vehicle for transporting large and complex parts.This paper proposes a cooperative handling control method based on the Leader-Follower control strategy on the platform of the dual Mecanum wheel automated guided vehicle,introduces its control method,the master-slave vehicle trajectory tracking error model,and the adaptive sliding mode controller based on the exponential approach rate proposed to the real-time adjustment of the tracking error of the vehicle trajectory.The simulation data shows that the controller can be used to adjust the real-time motion,accuracy and robustness of the vehicle.