自动导引小车模糊控制器的研究

Research on the Fuzzy Controller for the AGV

分析了AGV路径跟踪控制的特点,为提高模糊控制器的稳态精度和对AGV路径跟踪控制的适应能力,提出了基于插值法的模糊控制规则查询表的控制方法,通过对模糊控制器的设计与仿真分析,得到其响应曲线。研究结果表明,在不影响模糊控制器控制特性的情况下,使模糊控制器的设计和实现得到简化,从而更好地满足AGV路径跟踪控制的性能要求。

The characteristics of the route-tracking controlling for Auto-Guided Vehicle was analyzed.To improve the precision of the stabilization and the adaptability for the route-tracking controlling,a control method of fuzzy control rule table based on the interpolation was put forward.By the analysis of the design and simulation of the fuzzy controller in the Matlab,the response curve was gained.The result shows that the fuzzy controller can be simplified in its design and implementation without influencing its control characteristic, which can better satisfy the requirement of the route - tracking controlling for AGV.