对角式舵轮分布的AGV路径纠偏控制研究

AGV Deviation Correction of Variable Universe Fuzzy Control with Adaptive Expansion Factor

针对对角式舵轮分布的自动导航车(automated guided vehicle,AGV)的路径纠偏,提出了一种模糊控制+滑模控制的控制方法。首先,对角式舵轮分布的AGV进行数学描述,对其运动学、动力学分析建模;其次根据运动学模型,以车体位置、角度偏差为输入量,车体转向角度为输出量,设计模糊运动控制器作为外环控制器,然后根据其非线性动力学模型设计滑模控制器作为内环控制器;最后通过MATLAB环境下的Simulink仿真研究,表明所制定的控制策略有效,保证了对角式舵轮分布的AGV的快速且稳定的路径纠偏。

Aiming at the path correction of the diagonal steering wheel distribution of automated guided vehicle(AGV),a control method of fuzzy control+sliding mode control was proposed.Firstly,the AGV of the diagonal rudder wheel distribution was mathematically described,and its kinematics and dynamic analysis were modeled.Secondly,according to the kinematic model,the body position and angle deviation were taken as the input amount,and the car body steering angle was the output amount,the fuzzy motion controller was designed as the outer ring controller,and then the sliding mode controller was designed as the inner ring controller according to its nonlinear dynamic model.Finally,through the simulation study of Simulink in MATLAB environment,it shows that the proposed control strategy is effective and ensures the fast and stable path correction of the AGV distributed by the diagonal rudder wheel.