摘要
针对自动导引运输车(AGV)在工作现场易受到外界干扰的问题,围绕PID参数对控制系统性能影响机理进行研究,提出一种改进模糊PID算法。建立AGV的运动学模型,通过对比例、积分、微分部分的修正,弥补常规模糊PID的不足,提升控制策略的抗干扰性能。同时提出一种控制系统性能评估方法,对控制策略进行量化评价,在MATLAB的Simulink环境下将改进算法应用于模型,比较算法改进前后系统的性能,仿真结果表明,改进的模糊PID算法可以有效提高控制系统的抗干扰性能,增强了稳定性和实时性。
Aiming at the problem thatAGV is easy to be interfered by the external environment in the working field,this paper studies the influence mechanism of PID parameters on the control system performance,and proposes an improved fuzzy PID algorithm.The dynamatic model of AGV is established,By modifying the proportion,integral and differential parts,the deficiency of traditional fuzzy PID is made up and the anti-interference performance of control strategy is improved.At the same time,a control system performance evaluation method is proposed to evaluate the control strategy quantitatively.In the Simulink environment of MATLAB,the improved algorithm is applied to the model,and the performance of the system before and after the algorithm improvement is compared.The simulation results show that the improved fuzzy PID algorithm can effectively improve the anti-interference performance of the control system,enhance the stability and real-time performance.
作者
袁鹏
徐长风
周军
杨子兵
YUAN Peng;XU Chang-feng;ZHOU Jun;YANG Zi-bing(School of Mechanical Engineering,Shandong University,Shandong Ji'nan 250061,China;Key Laboratory of High Efficiency and Clean Mechanical Manufacture Shandong University,Ministry of Education,Shandong Ji5 nan 250061,China;National Experimental Teaching Demonstration Center of Mechanical Engineering,Shandong University,Shandong Ji'nan 250061,China)
出处
《机械设计与制造》
北大核心
2023年第3期212-216,220,共6页
Machinery Design & Manufacture
基金
基于云架构的生产物流智能配送AGV系统研发及示范应用(2017CXGC0903)
中药口服制剂先进制药与信息化技术融合示范研究(2018ZX09201-010)
智能云AGV系统(2018031)
丘陵山区宜机化农机装备研发与示范(SD2019NJ012)
基于工业互联网的智慧铸造工场(车间)关键技术研究及工程示范(2019JZZY010117)
高压开关铝合金壳体机器人自动焊接成套装备技术研究与示范应用(2019JZZY010452)
基于5G网络的挖掘机远程群控沉浸式作业关键技术研究及示范应用(2019JZZY010453)
多作物多功能智慧播种装备研制与产业化(2019JZZY010732)
智能化玉米高速播种、穗茎兼收关键技术研究与推广应用(2019JZZY020615)
泰山产业领军人才项目。
关键词
AGV
模糊PID
抗干扰
改进算法
性能评估
AGV
Fuzzy PID
Anti-Interference
Improved Algorithm
Performance Evaluation
