基于模糊PID控制的差动AGV稳定性控制研究

Research on Stability Control of Differential Drive AGV Based on Fuzzy PID Control

随着物流行业的快速发展,企业与工厂运输货物的效率亟待提高,传统生产运输方式逐步将被淘汰,在仓储和物流中主要用AGV运输货物,因此保持AGV稳定运行极为重要。提高AGV的稳定性可以提高物流的作业效率与稳定性,AGV的转向稳定性控制就是AGV控制系统中的核心因素之一,因此关于AGV稳定性控制的研究与应用得到了越来越多的重视。建立AGV模型,对AGV转向不稳定性进行分析。采用动态仿真方法分析AGV定点转向参数的稳定性规律,验证理论推导方程的正确性。根据分析结果,确定AGV定点转向运动学影响因素。经过参数优化后,研究其定点转向控制方法,选择模糊PID控制算法设计相应的转向控制策略。优化后,所研究的AGV在实际运行中转向更稳定,满足工作要求。

With the rapid development of logistics industry,the efficiency of goods transportation in enterprises and factories needs to be improved,and the traditional transportation mode will be gradually eliminated.Therefore,it is very important to maintain AGV stable operation in warehousing and logistics.The improvement of AGV stability control can improve the efficiency and stability of logistics.The AGV steering stability control problem is one of the core factors in AGV control system.Therefore more and more attention has been paid to the research and application of AGV stability control.The AGV steering instability was analyzed by establishing AGV model.The stability law of AGV fixed-point steering parameters was analyzed by dynamic simulation method to verify the correctness of the theoretical derivation equation.On the basis of the analysis results,the influencing factors of AGV fixed-point steering kinematics were determined.After parameter optimization,the fixed-point steering control method was studied,then the fuzzy PID control algorithm was selected to design the corresponding steering control strategy.After optimization,the AGV is more stable and meets the working requirements.