论文部分内容阅读
为了提高自动引导车控制的精度,提出了一种基于遗传算法的变结构控制方法。利用遗传算法在线调整变结构控制律中的参数,克服了常规变结构控制方法中需预先设定趋近律参数的限制,既保留了传统趋近律的优点,又有效改善了系统的控制品质,使系统最终以理想方式在滑模面上运动。试验表明直线跟踪误差为±0.02 m,曲线跟踪误差为±0.03m,没有出现抖振现象。
In order to improve the accuracy of automatic guided vehicle control, a variable structure control method based on genetic algorithm is proposed. The genetic algorithm is used to adjust the parameters of the variable structure control law online to overcome the limitation of the traditional approach to set the approaching law in the traditional variable structure control method. It not only retains the advantages of the traditional approach law, but also effectively improves the control quality of the system , The system eventually in the ideal way to move in the sliding surface. The test shows that the linear tracking error is ± 0.02 m and the curve tracking error is ± 0.03 m. There is no chattering phenomenon.