摘要
为了提高盾构管片厂的生产效率,降低生产制造环节中的运输成本,设计了一套AGV车载控制系统。车载控制系统主要包括主控制器模块、无线通信模块、磁导航模块、驱动模块、安全装置模块和定位模块等。针对AGV在沿规定路线行驶时,由于外界不确定因素导致AGV偏离既定路线的问题,设计了二维模糊控制器来进行轨迹纠偏。在盾构管片生产厂进行了AGV的控制系统测试实验,实验结果表明,所设计的控制系统方案可行,模糊控制器的控制性能可以满足管片生产厂的实际工作要求。
In order to improve the production efficiency and reduce the transportation cost in the manufacturing process,a set of AGV vehicle control system was designed. Vehicle control system mainly includes master controller module, wireless communication module, magnetic navigation module, driving module,safety device module and positioning module,etc. Aiming at the problem that AGV deviates from the prescribed route due to external uncertainties,a two-dimensional fuzzy controller is designed to correct the trajectory deviation. The AGV control system test was carried out in the shield tube factory.The experimental results show that the control system scheme is feasible and the control performance of the fuzzy controller can meet the actual work requirements of the tube factory.
作者
丁承君
胡博
刘云帆
贾丽臻
DINF Chengjun;HU Bo;LIU Yunfan;JIA Lizhen(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China;Aeronautical Engineering Institute,Civil Aviation University of China,Tianjin 300300,China)
出处
《电子设计工程》
2022年第6期81-85,共5页
Electronic Design Engineering
基金
天津市企业科技特派员项目(19JCTPJC53100)
天津市北辰区科技创新专项项目(KJCX-CXY-2018-03)。
关键词
AGV
控制系统
模糊控制
轨迹纠偏
AGV
control system
fuzzy control
trajectory correction
