摘要
AGV是现代自动化物流系统中的关键设备之一,为了完成搬运任务,必须对其轨迹误差进行控制。文章以三轮无轨AGV为例,在推导其运动方程的基础上,详细研究了其轨迹误差的组成,提出了三轮无轨AGV的运动控制模型及其模糊控制策略,并利用MATLAB进行仿真研究,仿真结果表明了所提算法的有效性。
AGV （Automatic Guided Vehicle） is one of the key equipment of the automatic material handling system. In order to carry out the task of conveying the material, the trajectory error of AGV must be controlled in the proper limit. After deducing the kinematical equation for the tricycle AGV, the trajectory error and it components are detailed discussed, and the fuzzy control model is proposed for the tricycle AGV, The simulation results show that the proposed method is valid for the control system of trajectory error of AGV.
出处
《组合机床与自动化加工技术》
2006年第11期52-53,56,共3页
Modular Machine Tool & Automatic Manufacturing Technique
基金
安徽省重点实验室建设项目"数字化设计与制造重点实验室"
关键词
三轮AGV
模糊控制
轨迹误差
仿真
tricycle AGV
fuzzy control
trajectory error
simulation
