速度自适应增量PID在AGV上的应用

Application of Fuzzy Adaptive Speed & Incremental PID Control in Magnet Navigation AGV

分析了差动AGV工程应用现状,介绍了差动AGV的结构原理、车载控制系统硬件设计、车载软件设计,重点介绍了车载软件设计,包括跟踪数据预处理,AGV运行速度自适应调整及增量PID跟踪车轮速度分配。该方案经现场验证,动作平顺,跟踪稳定可靠。

This paper analyzes magnet navigation differential AGV engineering application status,and introduces differential AGV structure&principle,and hardware&software design of the control system.software design is presented,which includes tracking data prepare deal,adaptive speed control,incremental PID control,and two wheels’speed distribution.Field cases prove that the method is steady in tracking,and run smoothly.