论文部分内容阅读
本文提出自动导向车偏差控制系统的数学模型。文章首先研究自动导向车的运动特性，分析偏差量与车轮速度的关系，在此基础上导出它的动态结构图。它是一个多输入多输出的非线性系统。然后通过小偏差线性化方法，把它简化成线性单输入数学模型。该数学模型应用于激光导向无人小车，获得较好的运行控制效果。
In this paper, the mathematical model of automatic guided vehicle deviation control system is proposed. The article first studies the movement characteristics of the auto-guided vehicle, analyzes the relationship between the deviation and the wheel speed, and derives its dynamic structure diagram on this basis. It is a multi-input and multi-output nonlinear system. Then it is reduced to a linear one-input mathematical model by the method of small deviation linearization. The mathematical model is applied to the laser-guided unmanned vehicle to obtain better operation control effect.