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首页> 外文会议>Proceedings of the 6th European Embedded Design in Education and Research Conference >Fast prototyping of a scaled AGV for the testing of stability control for industrial vehicles
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Fast prototyping of a scaled AGV for the testing of stability control for industrial vehicles

机译：规模化AGV的快速原型设计，用于测试工业车辆的稳定性控制

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Mechatronics is a multidisciplinary and application oriented science. Fast prototyping of a complete, scaled mechatronic system is very useful both for research and teaching activities. This work describes the development of a scaled AGV, using fast prototyping techniques, both for the design of the mechanical components and the development of the vehicle control system. The scaled AGV is used as a scaled demonstrator to verify the feasibility of an anti-capsize controller. Capsize is a typical problem that have to be avoided on industrial vehicles, forklifts and moving lifter where heavy and partially unknown loads have to be moved using vehicles with a design that privilege manoeuvrability and small costs against stability. The AGV is a three wheeled differential drive mobile robot, with front motorized wheels, driven by speed-controlled drivers. The vehicle is controlled through a Texas Instrument C2000 controller, programmable by using Matlab-Simulink Embedded Coder. Forces exchanged between the wheels and the ground are monitored using low cost load cells. MEMS three-axial accelerometers and gyros are used to detect inertial loads and to estimate the vehicle pose and, through a proper filtering, the ground slope. The implemented strategy is able to identify the loading conditions of the vehicle by means of a dedicated algorithm. Once the vehicle is in motion, the controller, to prevent the vehicle capsize, is able to limit its forward speed without changing the geometry of the assigned trajectory. In this work, the results of preliminary testing activities are shown, in order to demonstrate the validity and the effectiveness of the proposed approach.
机译：机电一体化是一门多学科且面向应用的科学。完整的，规模化的机电一体化系统的快速原型设计对于研究和教学活动都非常有用。这项工作描述了使用快速原型技术开发规模化AGV的过程，既用于机械部件的设计，又用于车辆控制系统的开发。缩放后的AGV用作缩放演示器，以验证反倾覆控制器的可行性。翻斗是工业车辆，叉车和移动式升降机上必须避免的典型问题，在这种情况下，必须使用设计具有机动性和较低成本的稳定性的车辆来移动沉重的负载和部分未知的负载。 AGV是三轮差速驱动移动机器人，带有前电动轮，由速度控制驱动器驱动。该车辆通过德州仪器（TI）C2000控制器进行控制，该控制器可使用Matlab-Simulink嵌入式编码器进行编程。使用低成本的称重传感器监控车轮和地面之间交换的力。 MEMS三轴加速度计和陀螺仪用于检测惯性载荷并估算车辆姿态，并通过适当的滤波来估算地面坡度。所实施的策略能够借助于专用算法来识别车辆的装载状况。车辆行驶后，为了防止车辆倾覆，控制器可以限制其前进速度，而无需更改分配轨迹的几何形状。在这项工作中，显示了初步测试活动的结果，以证明所提出方法的有效性和有效性。

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