摘要
AGV作为一种典型的非完整约束型机器人,在工业和物流业中用于组建高效、快捷的物流系统。在电磁引导的基础上提出一种智能的控制方式,使AGV在工作中具有较强的稳定性、较快的响应速度和自动纠偏的能力。当AGV在运行过程中产生位置偏差和角度偏差时,使用模糊控制来调控AGV两个主动轮的速度,保证AGV运行于预定的轨迹。最后通过使用SIMULINK仿真验证AGV的纠偏能力,并在工业现场验证了AGV系统所需实现的功能,证明了该系统达到了速度快反应、智能化、稳定性强的要求。
AGV（Automatic Guideding Vehicle） is a typical nonholonomic constraint robot,in the industry and logistic industry being used for the formation of efficient,fast logistic system.In order to make AGV strong stability,faster response speed and the ability to automatically correct,an intelligent control method is presented based on electromagnetic guidance.When it works,AGV will generate position deviation and the angular deviation.Aimed at correcting this,using fuzzy control adjusts the speed of the two driving wheels of the AGV to ensure that the AGV runs on a predetermined trajectory.Finally,the SIMULINK simulation is used to verify the error correction ability of AGVand at the same time,the function of AGV system is verified in industrial field.It is proved that the system meets the requirements of fast response,intelligence and stability.
作者
李照
舒志兵
LI Zhao, SHU Zhibing(College of Electrical Engineering and Control Science, Nanjing Tech University,Nanjing 211800, Chin)
出处
《电子器件》
CAS
北大核心
2017年第6期1426-1431,共6页
Chinese Journal of Electron Devices
关键词
AGV
电磁引导
模糊控制
轨迹纠偏
AGV
electromagnetic guided
fuzzy control
trajectory correction
