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Ultrasonic Obstacle Avoidance and Full-Speed-Range Hybrid Control for Intelligent Garages.

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Summary
This summary is machine-generated.

This study proposes an obstacle avoidance control scheme for AGV parking robots in intelligent garages. Hybrid motor control with Kalman filtering and a sliding mode observer ensures safe and robust operation across all speeds.

Keywords:
Kalman filterbrushless DC motorintelligent garagesliding mode observervector control

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Automotive Engineering

Background:

  • Intelligent three-dimensional garages face operational safety challenges, particularly with Automated Guided Vehicle (AGV) parking robots.
  • Precise obstacle avoidance and reliable motor control are critical for safe AGV operation.

Purpose of the Study:

  • To propose an obstacle avoidance measurement and control scheme for AGV parking robots.
  • To develop a full-speed range hybrid control strategy for brushless DC (BLDC) motors used in AGVs.
  • To enhance the operational safety and robustness of AGV parking systems.

Main Methods:

  • Utilized Kalman filtering for high-precision distance detection.
  • Developed a mathematical model for a BLDC motor with full-speed range hybrid control.
  • Implemented a dual closed-loop vector control with photoelectric encoders for low- to medium-speed feedback.
  • Integrated a sliding mode observer (SMO) for high-speed feedback to address waveform jitter.

Main Results:

  • Simulations demonstrated a maximum overshoot of 1.5% and a response time of 0.01 s at low to medium speeds.
  • Identified significant speed waveform jitter at higher speeds using photoelectric encoders.
  • Experiments confirmed that SMO significantly improves speed waveform jitter at high speeds, enhancing system robustness.
  • Validated that the hybrid control system meets AGV control and safety requirements across the full speed range.

Conclusions:

  • The proposed hybrid control scheme effectively manages BLDC motor speed for AGV parking robots across all operating speeds.
  • The integration of SMO is crucial for overcoming high-speed control limitations and ensuring system stability.
  • The developed system enhances the operational safety and reliability of intelligent garage parking solutions.