自动引导车系统的设计与仿真

Design and simulation of automation guide vehicle(AGV) System

在AGV车体结构初步设计的基础上,运用运动学和动力学理论,给出了车体的动力学模型。提出了通过运动误差方程式导出自动引导车的状态空间模型,根据状态空间表示式来设计路径追踪调节器,应用当今世界上应用最为广泛的计算工具MatIab中的SIMULINK对非线性部分进行图形化建模,并对整个导引系统在各种情况下进行了仿真与分析,修正了控制器的控制参数,通过仿真证明此种调节器的使用可以消除轨迹的误差,使自动引导车具有准确跟踪路径的能力。

Based on the primary structure of AGV, applying the theory of kinematics and dynamics, the dynamics model of AGV body is given.By motion（kinematics） error equation and get state space model of AGV. This paper designs route tracking regulator by state space, With SIMULINK, which is a part of the world-wide used computing tool, Matlab, the graphic model is built against the severe non-linear characteristic of the guided model. The guided-system is simulated and analyzed at various work-status and the controller parameter is amended. The result of simulation shows that this regulator can dispel error of route, AGV has ability of accurate tracks route.