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1. (WO2018176945) AUTOMATED GUIDED TRANSPORT VEHICLE CONTROL METHOD AND DEVICE, AND AUTOMATED GUIDED TRANSPORT VEHICLE

Pub. No.:    WO/2018/176945    International Application No.:    PCT/CN2017/119009
Publication Date: Fri Oct 05 01:59:59 CEST 2018 International Filing Date: Thu Dec 28 00:59:59 CET 2017
IPC: G05D 1/02
Applicants: BEIJING JINGDONG SHANGKE INFORMATION TECHNOLOGY CO., LTD.
北京京东尚科信息技术有限公司
BEIJING JINGDONG CENTURY TRADING CO., LTD.
北京京东世纪贸易有限公司
Inventors: ZHANG, Qiang
张强
Title: AUTOMATED GUIDED TRANSPORT VEHICLE CONTROL METHOD AND DEVICE, AND AUTOMATED GUIDED TRANSPORT VEHICLE
Abstract:
Provided are an automated guided transport vehicle control method and device, and an automated guided transport vehicle, relating to the field of automatic control. The automated guided transport vehicle control device determines a first compensation voltage according to a feedback signal in a first control subsystem, and compensates, by using the first compensation voltage, for a disturbance received by a second control subsystem, wherein the first control subsystem is an electromechanical control subsystem of one of a turnplate or a chassis, and the second control subsystem is an electromechanical control subsystem of the other of the turnplate or the chassis. By means of a coupling relationship between the turnplate and the chassis, a feedback signal in the electromechanical control subsystem of the turnplate is used to compensate for the disturbance of the electromechanical control subsystem of the chassis; alternatively, a feedback signal in the electromechanical control subsystem of the chassis is used to compensate for the disturbance of the electromechanical control subsystem of the turnplate, so as to implement high-precision control of the motion of the turnplate and the chassis.