摘要
为提高自动导引小车(automatic guided vehicle,AGV)运动控制效率,建立了AGV的3维模型和运动模型,通过Matlab/Simulink对AGV的运动模型进行仿真分析。分别使用PID控制、模糊控制和模糊PID控制方法对AGV的运动进行仿真,得到3种控制方式的响应时间和控制效果,并从行走距离和响应时间进行分析。仿真结果表明:建立的Simulink模型真实可靠,模糊PID控制效果比模糊控制和常规PID控制效果更好,可为AGV的控制研究提供参考。
In order to improve the efficiency of automatic guided vehicle（AGV） motion control, this paper designs a three-dimensional model and motion model of AGV, and simulates and analyzes the motion model of AGV by Matlab/Simulink. The PID control, fuzzy control, and fuzzy PID control are used to simulate the motion of AGV. The response time and control effect of the three control modes are obtained and analyzed from the walking distance and response time. The simulation results show that the established Simulink model is reliable and the fuzzy PID control effect is better than the fuzzy control and the general PID control, which provides a reference for AGV control research.
出处
《兵工自动化》
2017年第12期76-79,共4页
Ordnance Industry Automation
