基于多AGV协同搬运的分布式PID队形控制与保持策略

Distributed PID formation control and maintenance strategy based on multi-AGV collaborative transport

为实现多AGV小车的协同搬运,寻找协同运动过程中各AGV物理量趋于相似的最优控制参数。首先由协同队形的运动状态关系获得系统的一致性协议式,进而通过拉普拉斯变换得到分布式PID队形控制方程,通过复常系数线性方程稳定性判据得到该类网络拓扑稳定的成立条件,由具体的期望队形得到其复数矩阵以及对应的特征方程和特征值的解范围,不同控制参数的不等式方程解同时成立的最优范围即为运动状态下该队形稳定存在的充要条件。通过数据仿真与实验结果可知,该算法可以有效实现多AGV协同运动的预期队形的形成与保持,为大型物料件的运输提供了新的控制思路。

In order to realize the coordinated transportation of multiple AGV trolleys,this paper looks for the optimal control parameters that the physical quantities of each AGV tend to be similar during the coordinate movement.This paper firstly obtains the system consistency protocol according to relationship between the motion state of cooperative formation,and obtains the distributed PID formation control equation through the Laplace transform.Then it obtains the conditions for the topological stability of this type of network according to the stability criterion of the linear equation with complex constant coefficients,as well as obtains complex number matrix,corresponding characteristic equation and solution range of characteristic value from the specific expected formation.So the optimal range that makes the inequality equation solutions of different control parameters hold simultaneously is the necessary and sufficient condition that makes formation keeping stable existence under the motion state.The simulation and experimental results show that this algorithm can effectively achieve the expected formation and its maintenance of multi-AGV collaborative movement and provides a new control idea for the transportation of large materials.