摘要
针对港口重载自动导引运输车(AGV)工作中遇到的过度滑转危险,文中提出一种基于最佳滑转率控制的驱动防滑设计。该设计根据港口环境特点建立路面附着特性模型;选用T-S型模糊控制器进行港口路面模糊识别设计,对峰值纵向附着系数及最佳滑转率进行识别,并将识别结果用于最佳滑转率控制中,进而提升港口AGV驱动防滑性能。通过单一路面与对接路面识别试验,验证了港口路面模糊识别器具有准确识别能力。
In this article,with the focus on the danger of excessive slippage encountered by the heavy⁃duty Automatic Guided Vehicle(AGV)in port,the driving anti⁃slip design is proposed based on the optimal slip rate control.According to the characteristics of the port environment,the model of pavement adhesion characteristics is set up.The T-S pavement fuzzy identi⁃fier is used to design the port pavement fuzzy identifier;efforts are made to identify the peak longitudinal adhesion coefficient and the optimal slip rate,and then the identification results are imported in the optimal slip rate control,so as to improve the port AGV’s driving anti⁃slip performance.Through the recognition experiment of the single road and the docking road,it is verified that the fuzzy identifier of port pavement is accurate in recognition.
作者
孙凌宇
王子航
刘璇
张桐瑞
李鑫宝
SUN Lingyu;WANG Zihang;LIU Xuan;ZHANG Tongrui;LI Xinbao(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401)
出处
《机械设计》
CSCD
北大核心
2024年第5期54-59,共6页
Journal of Machine Design
基金
国家重点研发计划项目(2017YFB1302002)。
