自动引导车辆转向系统的辨识建模

Modelling of Steering System of Automatically Guided Vehicle System(AGVS) by the System Identification

自动引导车辆转向系统的建模是建立系统最优控制器的主要前提，而传统的理论分析建模方法，存在着繁琐、难以实现等一系列问题。该文通过对自行研制的模型车转向系统实际输入输出数据的分析，提出采用广义最小二乘辨识方法来建立转向系统模型。理论分析与实验验证表明，这是对现代复杂工业对象建立相对准确的数学模型的一种行之有效的方法。

Automatically Guided Vehicle System(AGVS) is the key facility in flexible integrated production and materialflow automation of the AGVS working performances. In the study of AGVS, a very important premise is how to establish the mathematical model of steering system, and based on this model to establish the controlling model. Because of the complexity of modern industrial plant, it is very difficult to do so by pure theoretical analysis method. From the viewpoint of control, it is hoped to find a kind of mathematical model, which can not only properly reflect system motion law, but also has a low order. With the development of the system identification theory and method, choosing a proper identification algorithm satisfying the different aims,circumstances,plants, etc. will be a kind of good approach for solving the above questions. By analyzing the experimental input and output data, the Generalized Least Square(GLS) algorithm was chosen and the system differential equation was obtained. It was proved that it is a good method to solve the questions on modeling and controlling of complicated industrial plant .