| 引用本文: | 任永益,饶聃,潘孟春.自动导向车控制系统的数学模型及应用.[J].国防科技大学学报,1997,19(6):42-47.[点击复制] |
| Ren Yongyi,Rao Dan,Pan Mengchun.Mathematical Modeling of Control System of AGV and Its Application[J].Journal of National University of Defense Technology,1997,19(6):42-47[点击复制] |
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| 自动导向车控制系统的数学模型及应用 |
| 任永益, 饶聃, 潘孟春 |
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(国防科技大学 机械电子工程与仪器系 湖南 长沙 410073)
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| 摘要: |
| 本文提出自动导向车偏差控制系统的数学模型。文章首先研究自动导向车的运动特性，分析偏差量与车轮速度的关系，在此基础上导出它的动态结构图。它是一个多输入多输出的非线性系统。然后通过小偏差线性化方法，把它简化成线性单输入数学模型。该数学模型应用于激光导向无人小车，获得较好的运行控制效果。 |
| 关键词: 数学模型，自动导向车，动态特性 |
| DOI： |
| 投稿日期：1997-03-20 |
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| Mathematical Modeling of Control System of AGV and Its Application |
| Ren Yongyi, Rao Dan, Pan Mengchun |
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(Department of Mechatronics Engineering and Instrumentation，NUDT，Changsha，410073)
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| Abstract: |
| This paper presents a mathematical model of the control system of AGV. First the article studies the kinematical characteristic，analyses the relationship between the deviation and the velocity of the wheel. Then the dynamic configuration is derived，which is a multi-input and multi-output nonlinear system. Finally it is simplified into a single-input linear model by the small deviation linearized method. This model has been applied to a laser guided vehicle. Higher accuracy have been shown by test results. |
| Keywords: mathematic model,automated guided vehicle,kinematical characteristic |
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