摘要
针对自动化仓储设备固定轨迹的自动导航车(AGV)控制需要,设计基于运动学的自动导航车控制系统。系统从AGV小车路径偏差控制系统的运动学关系入手,分析小车运动偏差与车轮转速的关系,得到了AGV动态特性关系,采用模糊智能控制方法,控制PWM波占空比,修复小车路劲偏差,提高导航准确度和小车稳定性。仿真和实测结果表明,运行时AGV虽有轻微的振荡,但偏差振幅不超过10cm,故能做到沿路径中线运行。
According to the control requirements of fixed track AGV of automatic storage equipment, a control system of AGV based on kinematics is designed. The kinematics characteristics in AGV is introduced. The relationship between the movement deviation and the wheel speed in the vehicle are analyzed and the dynamic performance is deduced. The fuzzy intel- ligent control method is used, which control the PWM duty cycle. Path deviation is repaired. The accuracy and stability of nav- igation is improved. Simulation and practical test show that although AGV runtime has slight oscillation, the amplitude of de- viation is less than 10cm and the vehicle could move along with the path.
出处
《自动化应用》
2013年第4期28-30,共3页
Automation Application
基金
湖南省科技计划项目(2011GK3116)
