摘要
自导引小车AGV在自动循迹过程中要求很高的控制精度。基于此,本文首先介绍了AGV系统的构成,其次针对AGV中直流电机的调速系统具有非线性、时变性较强、易受外界干扰的情况,设计了转速模糊PID控制器,并在AB PLC中采用梯形图实现模糊控制算法,运行结果表明,所设计的模糊控制器具有响应速度快、超调小等优点,能使AGV小车以最佳速度沿所设定轨迹运动。
Automated Guide Vehicle(AGV)requires high control precision in the process of automatic tracking.Based on this,firstly,the structure of AGV system is introduced in this paper.Secondly,aiming at the situation that the speed control system of DC motor in AGV is non-linear,time-varying and susceptible to external interference,a speed fuzzy PID controller is designed,and the ladder diagram is used to realize the fuzzy control algorithm in AB PLC.The operation results show that the designed fuzzy controller has the advantages of fast response and small overshoot,which can drive the AGV car to move along the set track at the optimum speed.
作者
南江萍
NAN Jiang ping(School of Electrical Engineering,Xi’an Traffic Engineering Institute,Xi’an 710300,China)
出处
《电子设计工程》
2020年第7期23-26,30,共5页
Electronic Design Engineering
