亚洲一区欧美在线,日韩欧美视频免费观看,色戒的三场床戏分别是在几段,欧美日韩国产在线人成

Aiming to eliminate the wheel sideslip of the front wheel guided AGV, a kind of double crank steering system with changing length link was designed based on the steering principle of Ackermann. By deducing steering dynamics models, closed loop control models of rotation angle of left and right front wheels were established in consideration of steering resisting moment. PID synchronous control algorithm of steering angle of left and right front wheels was proposed. The dynamic responses of steering control models were simulated by Matlab, and the relative control parameters were obtained. With Panasonic PLC as the core, a measurement and control system of AGV steering was built up, which consisted of AC servo motor of left front wheel, AC servo motor of push rod, actuator and encoder. Synchronous closed loop control flow of front wheel steering system was designed, and real-time synchronous control of rotation angle of left and right front wheels and the collection of rotation angle data were realized to meet the principle of pure rolling steering. Pivot steering test on grassland roadway and turning travel test of AGV along S-type trajectory under hard roadway showed that the errors between expected turning angle and actual turning angle of left and right front wheels of steering system of front wheel guide AGV were no more than 0.1°, and AGV steering system can approximately satisfy the movement condition of pure rolling and non-sideslip, which validated the correctness and effectiveness of pure rolling steering system design of wheeled AGV and steering control.