摘要
轨迹跟踪控制是自动导引车辆(Automated Guided Vehicle,AGV)控制系统设计的关键问题之一,建立120tAGV框架运输车的运动学方程,设计反演算法的整车控制律,运用MATLAB软件进行仿真分析,结果表明反演算法应用于120tAGV框架运输车循迹控制方面具有快速性和有效性。
Trajectory tracking control is one of the key issues in the design of automatic guided vehicle control system.The kinematics equation of 120 tAGV frame transport vehicle is established,the vehicle control law of inversion algorithm is designed,and the simulation analysis is carried out by using MATLAB software.The analysis results show the inversion algorithm.It is fast and effective for 120 tAGV tracking control.
作者
曲宏
韩勇涛
赵静一
石玉龙
张启星
王建军
Qu Hong;Han Yongtao;Zhao Jingyi;Shi Yulong;Zhang Qixing;Wang Jianjun(Dalian Huarui Heavy Industry Group Co.,Ltd.,Dalian 116013;Dalian Huarui Heavy Industry Coke Oven Machinery&Vehicle Co.,Ltd.,Dalian 116052;Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Yanshan University,Qinhuangdao 066004)
出处
《冶金设备》
2020年第1期81-86,共6页
Metallurgical Equipment
基金
国家自然科学基金资助项目(51675461)。
