双差速驱动AGV协同运动控制技术研究

发布时间：2019-03-30 11:44

【摘要】：自动导引车(AGV,Automated Guided Vehicle)作为一种自动化程度高、运行柔性好和空间利用率高的输送设备,广泛应用于先进制造业和现代仓储业。为了满足大型部件搬运移载对AGV承载能力和运动灵活性的要求,研发具有多个差速驱动单元的模块化AGV,研究多个差速驱动单元的协同运动控制,具有重要的理论意义和工程应用价值。首先研究了一种单目视觉导引双差速驱动AGV的协同运动控制,摄像机安装在AGV本体上并处于两个驱动单元的中心位置。建立了非线性运动学模型并进行输入-输出线性化,分析了协同运动控制的速度约束关系,提出了一种融合偏差智能转化评价函数法和指数稳定控制的混合控制律。评价函数法可针对不同的偏差状态智能选择合适的控制量以将其转化到指数稳定控制的适用范围,再通过指数稳定控制实现姿态角偏差和距离偏差向零的同步收敛。其次研究了一种双目视觉导引双差速驱动AGV的协同运动控制,每个驱动单元上安装有一台摄像机。提出了一种PID控制和基于偏差状态的人工智能控制相结合的混合控制律,在大偏差状态设计了针对第三类偏差状态的同步纠偏控制方法,对于其他偏差状态则采用PID控制律。基于Matlab软件的数字仿真验证了上述算法的有效性。在理论研究的基础上,采用嵌入式计算机系统研制了双差速驱动AGV的车载控制器,完成了大量系统运行测试与路径跟踪实验。AGV可精确、稳定地跟踪直线、圆弧以及复杂形状的导引路径,实验结果验证了所提协同控制技术的有效性,这为下一步研制模块化、可重构重载AGV确立了坚实的技术基础。
[Abstract]:Automatic guided vehicle (AGV,Automated Guided Vehicle) is widely used in advanced manufacturing and modern storage industry as a kind of transportation equipment with high degree of automation, good operation flexibility and high space utilization. In order to meet the requirements of AGV load carrying capacity and motion flexibility for large components, a modular AGV, with multiple differential drive units is developed to study the cooperative motion control of multiple differential drive units. It has important theoretical significance and engineering application value. Firstly, a kind of cooperative motion control of monocular vision guided double differential drive AGV is studied. The camera is installed on the AGV body and located in the center of two driving units. The nonlinear kinematics model is established and the input-output linearization is carried out. The velocity constraint relation of the cooperative motion control is analyzed, and a hybrid control law is proposed, which combines the intelligent transformation evaluation function method of deviation and the exponential stability control. The evaluation function method can intelligently select appropriate control variables for different deviation states to transform them into the applicable range of exponential stability control, and then realize the synchronous convergence of attitude angle deviation and distance deviation to zero by exponential stability control. Secondly, a kind of cooperative motion control of binocular vision guided dual differential drive AGV is studied, each drive unit is equipped with a camera. A hybrid control law based on PID control and artificial intelligence control based on deviation state is proposed. A synchronous bias correction control method for the third kind of deviation state is designed in the large deviation state, and the PID control law is adopted for other deviation states. The effectiveness of the algorithm is verified by digital simulation based on Matlab software. On the basis of theoretical research, a vehicle controller with double differential speed driving AGV is developed by using embedded computer system. A large number of system running tests and path tracking experiments have been completed. AGVs can track straight lines accurately and stably. The experimental results show the effectiveness of the proposed cooperative control technique, which establishes a solid technical foundation for the development of modularization and reconfigurable heavy duty AGV in the next step.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242

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