重载AGV液压转向模糊PID控制

Fuzzy PID Control of Heavy Load AGV Hydraulic Steering

重载AGV在满载工况转向时,转向阻力明显增大,给转向控制系统敏捷、精确控制造成困难。为此,提出一种基于模糊PID的控制方法,以实时、动态的修正转向系统控制参数。根据AGV转向系统结构建立了控制模型,搭建了模糊PID控制器,制定了隶属度函数及模糊规则,并根据转角偏差及偏差变化率更新控制器的参数,使液压调整量根据需要进行动态修正,保证车轮在高转向阻力时快速、准确的偏转。仿真及试验结果表明,模糊自适应PID算法可有效降低系统超调量、振荡幅度,加快系统响应速度,提高了重载AGV液压转向系统的控制精度和反应速度。

When the heavy load AGV turns at full load,the steering resistance increases obviously,which makes it difficult for the steering control system to control quickly and accurately.Therefore,a control method based on Fuzzy PID is proposed to modify the control parameters of steering system in real time and dynamically.According to the AGV steering system structure,the control model is established,the fuzzy PID controller is built,the membership function and fuzzy rules are formulated,and the parameters of the controller are updated according to the angle deviation and deviation change rate,so that the hydraulic adjustment can be dynamically modified according to the needs,so as to ensure the fast and accurate deflection of the wheel when the steering resistance is high.The simulation and experimental results show that the fuzzy adaptive PID algorithm can effectively reduce the overshoot and vibration amplitude of the system,accelerate the response speed of the system,and improve the control accuracy and response speed of the heavy load AGV hydraulic steering system.