自动引导车轨迹偏差的智能控制

Intelligent control of route deviation of an automated guided vehicle

针对自动化仓储设备AGV固定轨迹控制方式,建立了ACV小车路径偏差控制系统的数学模型。应用数学方法分析偏差与车轮速度的相互关系,从而得到其动态结构图;通过小偏差线性化的方法,将该非线性系统简化成单输入单输出线性系统。采用多点信号采集,利用模糊控制理论,进一步提高了小车路径偏差的控制准确度。通过对系统加载输入正弦信号,验证了系统具有良好的跟随性和稳定性。

To study the automated guided vehicle (AGV's) fixed track control mode, an AGV's mathematic model of control system of the track deviation was built, and the dynamic structure chart through analyzing the interrelation between the deviation and the speed of the wheel was obtained. Through small deviation linearization, the nonlinear system was simplified into a single input/output system. Multipoint signal acquisition and fuzzy control theory are used to improve the control precision of the AGV's track deviation with sinusoidal signal loaded into the system, the system displays good characters and stability, which proves the approach is correct and workable.