A control strategy for AGVS to stop at the specified location
- Delivery
- Available on this site
- Format
- Price
- Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880
- Publication code
- 9624711
- Paper/Info type
- AVEC
- Pages
- 1343-1350(Total 8 p)
- Date of publication
- Jun 1996
- Publisher
- Others, Unknown
- Language
- English
- Event
- AVEC '96
Detailed Information
| Author(E) | 1) Y.Zhou, 2) R.Wang, 3) X.An, 4) S.Zhou |
|---|---|
| Affiliation(E) | 1) Jilin University of Technology, 2) Jilin University of Technology, 3) Jilin University of Technology, 4) Jilin University of Technology |
| Abstract(J) | 産業界で使用される無人搬送車は,軌道上を正確に走行するが,停止位置に問題がある.それは時間による制御が原因であり,これを走行距離による制御に切り替えることで対策しようとするものである.その対策法はピンポン制御法というもので,その理論の内容についての研究の成果と実際について解説する. Translation |
| Abstract(E) | The important behavior of AGVS used in industry is that they can accurately stop at the specified location so as to work in corporation with other machines. Under experiments it's found that the controller is very good for path tracking, but it is less efficient for vehicle to stop at the given position. This paper presents Ping-Pong control strategy in positioning AGVS at the specified location. By using this control strategy it has been shown that the vehicle can reach the given position in the minimum moved distance. Since some important performances of AGVS are given in displacements, the controllers used in the paper are based on the sampling of the displacement instead of the commonly used time. As long as the dynamic response of the actuators is fast enough, the controllers have very good robustness within a certain range of speed. |
