AGV路径跟踪控制研究

发布时间：2018-06-29 06:27

本文选题：AGV + 运动模型　；参考：《江西理工大学》2015年硕士论文

【摘要】：自动导引小车(Automatic Guided Vehicle)指的是一种在无人操作情况下,承载一定货物自主、准确的到达目的地的搬运车,是轮式机器人的一种。这样一智能自动化的实现集多项技术于一体,综合了当今前沿科技。AGV作为现代化物流的重要设备能提高企业生产水平,不仅减少了劳动力资源浪费还减少成本,获得的回报也更高更快,为企业争取了利益的最大化。在自动导引小车的研究过程中,我们发现作为核心技术的路径跟踪技术的优劣程度直接影响着AGV性能的好坏。本文分析导引小车的结构特点,结合研究内容选定适宜的三轮式导引小车。根据该类型小车的运动特性和运动关系建立运动模型。分析模型得到距离偏差和角度偏差与驱动轮速度关系。再联系AGV驱动系统的动态和静态特性,利用系统辨识法得到系统的传递函数,从而建立系统的状态空间模型。按照模糊控制器的设计方法,选取以角度偏差和距离偏差线性组合后的综合偏差最为输入之一,将该综合偏差的变化率作为另一输入,同时以两驱动轮电压差作为输出变量。但是发现在小偏差情况下,模糊控制器的表现不如常规控制器。针对这一情况,提出了采用阈值切换法优化控制器,实现模糊控制和常规控制的优势互补。仿真结果表明:与传统控制器的控制效果相比模糊控制器有较大优势,特别是在较大偏差情况下模糊控制器能快速纠正路径。经过优化后的控制器能够使AGV在各种情况下有较强的适应性,同时改善了输出振荡和路径跟踪出现的超调现象。
[Abstract]:Automatic guided vehicle (AV) is a kind of wheeled robot, which carries certain goods independently and reaches its destination accurately under the condition of nobody operating. The realization of intelligent automation integrates many technologies, synthesizes the advanced technology. AGV, as an important equipment of modern logistics, can improve the production level of enterprises, not only reduce the waste of labor resources, but also reduce costs. The return is also higher and faster, maximizing profits for the enterprise. In the research process of automatic guided vehicle, we find that the performance of AGV is directly affected by the advantages and disadvantages of the path tracking technology as the core technology. In this paper, the structural characteristics of guided vehicle are analyzed, and the suitable three-wheeled guided vehicle is selected according to the research contents. A motion model is established according to the motion characteristics and relationship of the car. The relationship between the distance deviation and the angle deviation and the speed of the drive wheel is obtained by analyzing the model. Considering the dynamic and static characteristics of AGV driving system, the transfer function of the system is obtained by using the system identification method, and the state space model of the system is established. According to the design method of fuzzy controller, one of the most input comprehensive deviations is selected after the linear combination of angle deviation and distance deviation. The rate of variation of the synthetic deviation is taken as another input, and the voltage difference between two driving wheels is taken as the output variable. However, it is found that the performance of fuzzy controller is inferior to that of conventional controller in the case of small deviation. In view of this situation, a threshold switching method is proposed to optimize the controller to realize the complementary advantages of fuzzy control and conventional control. The simulation results show that the fuzzy controller has more advantages than the traditional controller, especially the fuzzy controller can quickly correct the path in the case of large deviation. The optimized controller can improve the adaptability of AGV under various conditions and improve the overshoot phenomenon of output oscillation and path tracking.
【学位授予单位】：江西理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242

【共引文献】