Design of AGV Chassis Motion Control System Based on MWorks
نویسندگان
چکیده
Abstract With the mature and extensive application of robotics, task-based mobile robots for special environments high-risk tasks are also gaining more attention. To make achieve precise difficult work, then, it is particularly important to stable control AGV. Therefore, by establishing a mathematical model AGV conducting kinematic analysis, we design system that can accurate motion. The experimental simulation, separated from traditional foreign simulation software MATLAB, based on domestic independently developed virtual experiment environment MWorks. Sysplorer validated algorithm digital twinning.
منابع مشابه
The design of a chassis system based on multi-objective qLPV control
HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau...
متن کاملVehicle Chassis Decoupling Control Based on Neural
In order to eliminate the interference and coupling among automobile chassis electronic control subsystems, an integrated decoupling control approach based on neural network inverse method was proposed. The integration of active front steering (AFS), direct yaw moment control (DYC) and active suspension (ASS) was studied. According to Inter-actor algorithm, the reversibility of chassis system w...
متن کاملSimulation Research on an Electric Vehicle Chassis System Based on a Collaborative Control System
This paper presents a collaborative control system for an electric vehicle chassis based on a centralized and hierarchical control architecture. The centralized controller was designed for the suspension and steering system, which is used for improving ride comfort and handling stability; the hierarchical controller was designed for the braking system, which is used for distributing the proport...
متن کاملCAN-Based Motion Control Design
Applying the controller area network (CAN) bus, this paper proposes the integration of three advanced motion control designs: (1) the zero phase error tracking control (ZPETC) mainly for each individual axis in the multi-axis system, (2) the zero magnitude error tracking control (ZMETC) for each individual axis at the high speed in the multi-axis system and (3) the cross-coupled control (CCC) f...
متن کاملGlobal Chassis Control Based on Inverse Vehicle Dynamics Models
This work proposes to approach Global Chassis Control (GCC) by means of model inversion based feedforward with allocation directly on the actuator commands. The available degrees of freedom are used to execute the desired vehicle motion while minimizing the utilization of the tyre’s grip potential. This is done by sampled constrained least-squares optimization of the linearized problem. For com...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of physics
سال: 2023
ISSN: ['0022-3700', '1747-3721', '0368-3508', '1747-3713']
DOI: https://doi.org/10.1088/1742-6596/2479/1/012056