林义忠,王新华,陈远玲,黄玉美.基于负载特性的自动引导车转向偏差补偿方法[J].农业机械学报,2008,39(4):122-124.
.[J].Transactions of the Chinese Society for Agricultural Machinery,2008,39(4):122-124.
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基于负载特性的自动引导车转向偏差补偿方法   [下载全文]
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DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  自动引导车  倾角测量  方向补偿
基金项目:
林义忠  王新华  陈远玲  黄玉美
广西大学
中文摘要: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。
Key Words:
Abstract: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. 

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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