全向自动导引车导向机构设计及其运动控制研究

针对麦克纳姆轮加工复杂，运动效率低，承载能力较弱及容易出现振动、打滑等问题，研发了基于轮毂电机的自动导引车（automatic guided vehicle，AGV）全转向导向机构，并根据该导向机构的控制方式--四轮独立驱动和四轮独立转向（4WID-4WIS）的方式，对该全向AGV进行了运动控制研究。首先，构建了该全转向导向机构的运动学模型，并进行了运动学分析，得出不同转向模式下全向AGV转速与转角之间的关系。其次，为消除该全向AGV移动时产生的路径偏差，提出了基于多步预测最优控制和模糊控制的联合路径跟踪控制技术，以提高控制精度和为路径跟踪提供充足的纠偏能力；进行了转向电机和轮毂电机之间的解耦控制，保证了转向电机和轮毂电机具有良好的输入输出响应。最后，通过实车实验验证了该全转向导向机构具有良好的运动效果，能够满足实际工况的要求，可为AGV在工业领域的应用提供一定的参考。

Guidance mechanism design of omnidirectional AGV and its motion control research

Aiming at the problems that include the complex processing, low movement efficiency, weak bearing capacity, vibration and slippage of the Mecanum wheel, a full steering guidunce mechanism based on in-wheel motor was studied. The motion control of omnidirectional AGV based on four-wheel independent steering and four-wheel independent driving (4WID-4WIS) technology was researched. Firstly, a kinematics model of the full steering guidance mechanism was constructed, and kinematics analysis was performed to obtain the relationship between rotation speed and rotation angle of omnidirectional AGV under different steering modes. Secondly, path tracking technique based on multi-step predictive optimal control and fuzzy control was used to eliminate the path deviation of the omnidirectional AGV. The combined control improved the control accuracy and provided adequate rectification capability for path tracking. The decoupling control between the steering motor and in-wheel motor was carried out to ensure good input and output response. Finally, the real-vehicle experiment proved that the full-steering moving mechanism had a good movement effect and could meet the requirements of working conditions, which provided a certain reference for the application of AGV in the industrial field.