基于负载特性的自动引导车转向偏差补偿方法  

Orientation Compensation Method Based on Load Characteristics for AGV

作　　者：林义忠[1] 王新华[2] 陈远玲[1] 黄玉美[3] 

机构地区：[1]广西大学机械工程学院 [2]广西大学计算机与电子信息学院 [3]西安理工大学机械与精密仪器仪表学院

出　　处：《农业机械学报》2008年第4期122-124,121,共4页Transactions of the Chinese Society for Agricultural Machinery

摘　　要：设计了一种简单实用的测量AGV负载特性的方法,即通过测量车体的纵向倾角间接推算转弯时负载给AGV带来的附加力矩,并针对2轮差速驱动的6轮AGV的结构,进行了动力学的理论分析和推导,在AGV上进行了现场的实验研究,找出了附加力矩对操舵角的影响和相应的补偿修正系数。实验结果表明,该方法在一定程度上消除了纵向不对称负载对AGV轨迹跟踪精度的影响。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.

关 键 词：自动引导车 倾角测量 方向补偿 

分 类 号：U461.1[机械工程—车辆工程]