四轮差动驱动型AGV嵌入式运动控制器设计和研究.pdfVIP

AGV AGV 宋立博 李劲松 费燕琼 上海交通大学, 上海,200240 :设计了前两轮从动后两轮差动驱动的四轮底盘结 AGV在考虑非完整约束和轴承摩擦 力的基础上,结合牛顿力学方法和矩阵分析方法建立了以运动速度和转弯角速度为状态变量的AGV 非完整状态空间方程; 使用全状态反馈的极点配置法建立了运动控制方程, 采用 DS87C520 和 PSD813F2 设计了其嵌入式运动控制器仿真和实验证明了非完整状态空间方程运动控制方程和嵌 入式运动控制系统的可靠性实时性和稳定性 : (AGV); ;;; :TP2421 : 1004 132X( 2008)24 2903 05 Design and Research of Embedded Controller of an 4- wheel Differential Drive Automate Guided Vehicle Song Libo Li Jinsong Fei Yanqiong Shanghai Jiao Tong University,Shanghai, 200240 Abstract: An AGV of two front passive wheels and two rear differential- driven wheels was designed.The nonholonomic state space equations in the flexible mode was obtained with the Newton method and the matrix analysis method taking the nonholonomic constraints and the friction force of the bearings into account and considering the motion speed and the turning velocity to be as the state parameters. eanwhile, the motion control equation was designed with the full state feedback pole placement method, and the embedded control system of the DS87C520 controller and the PSD813F2 chips was also developed. The reliability, real- time and robust qualities of the nonholonomic state space, and the embedded control system were approved and validated with the simulation and the experiments.At last,some conclusions were drawn. Key words: automatic guided vehicle( AGV); state space; nonholonomic constraint; embedded control system; pole placement method 0 引言 , ( automatic guided vehicle, AGV) , :2007 09 18 :2008 09 02 AGV : [ 4] Liu Xinjun,Tang Xiaoqiang, Wang Jinsong.A Novel [9] . AT LAB 65 [ ] . : 2- DOF Parallel echanism Based Design of aNew , 2003. 5- Axis Hybrid achine T ool[ C]/ /Proceed