摘要
针对自主导航车(AGV)市场规模小、成本高,难以满足企业物流自动化要求的现状,基于西门子1200系列PLC和智能控制技术,设计了串级PID控制导引算法,开发了一款载重10 t的双向重载智能自主导航车.经调试,AGV小车能够按照码带运行,轨迹偏差值控制在±10 mm内,且系统响应迅速,小车运行稳定,实现了自主导航、自主避障、自主定位等功能.
In order to solve the problems of automated guided vehicle（AGV） of small market scale and high cost and difficulty in meeting the needs of the automation of enterprise logistics,the cascade PID control guidance algorithm was designed,a load 10 t two-way heavy load intelligent automated guided vehicle was developed based on Siemens 1200 series PLC and intelligent control technology.After the commission the vehicle could run according to code-band and track deviation value was within ± 10 mm.The system was quick in reaction and stable in running,AGV could realize autonomous navigation,autonomous obstacle avoidance and autonomous positioning,etc.
出处
《轻工学报》
CAS
2017年第2期97-102,共6页
Journal of Light Industry
基金
国家自然科学基金项目(U1304508)
河南省高等学校青年骨干教师资助计划项目(教高[2012]626号-107)
关键词
自主导航车
重载
PID控制
automated guided vehicle（AGV）
heavy load
PID control
