Heavy-load AGV transverse stability control method based on KNN

• Main Authors: XUE SHANLIANG, ZHANG HUI, LIU GUOHUI, FANG DANFENG, MA RUXUE
• Format: Patent
• Language: Chinese; English
• Published: 13.10.2023
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

A KNN-based heavy-load AGV transverse stability control method is characterized by comprising the following steps: 1, according to different loads of a heavy-load AGV, AGV driving conditions are divided into five types, and simulation software is utilized to acquire motion state data of the AGV under different working conditions; 2, establishing a K nearest neighbor (KNN) classifier, and performing training and verification by using the acquired data set; 3, designing a nonlinear sub-controller set based on fuzzy PID, calculating a required yawing moment, and carrying out moment distribution on four driving wheels according to a moment distribution rule; and 4, introducing an error judgment strategy, activating a controller according to a side slip angle error, and controlling the transverse stability of the controller. According to the method, the load KNN classifier of the heavy-load AGV is established, the side slip angle error can be monitored in real time, the controller is activated if the side slip ang