双差速驱动AGV协同搬运技术研究

Cooperative Transportation Technology of AGV with Dual Differential Driving

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,提出一种基于Leader-Follower控制策略的协同搬运方法。介绍了双差速驱动自动导引车的结构组成、控制方法以及基于指数趋近率的自适应控制器,以实时调整从车轨迹跟踪误差,最终实现大型零部件的搬运。双差速驱动AGV采用重载差速轮系,既能主动承载,又能主动驱动转向,从而实现二维平面内直行、横行、斜行、任意曲线移动和零回转半径转动等全向移动形式。为了弥补双车联动造成的前后左右误差,在前后两台AGV上采用浮动平台系统。

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 and introduces the structural composition,control method and adaptive controller based on the exponential reaching law of dual differential driving automatic guided vehicle to adjust the tracking error in real time and finally realize the transportation of large parts.The double differential drive AGV adopts a heavy-duty differential wheel system with the function of active carrying and steering drive,so as to realize the omnidirectional movement forms such as straight,horizontal,oblique,arbitrary curve movement and zero radius of rotation in a two-dimensional plane.In order to compensate for the error caused by the linkage of two cars,a floating platform system is adopted on the front and rear AGVs.