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针对视觉导引自动导引车的路径跟踪问题,提出了一种采用预测控制理论的分段控制模型.利用不等式约束对控制问题进行分段,提出以转弯半径为约束条件,解决了优化过程目标函数权重选择困难的问题.在每个控制阶段,采用单步预测方法找到最优的目标点,在输入约束和状态约束下用解析方法直接解出最优控制量,提高了解最优问题的速度.整个控制模型及方法目标明确,计算快速且计算量小,完全可以满足实时控制的需要,仿真结果证明了预测模型的有效性.
Aiming at the problem of path-tracking of vision-guided automatic guided vehicle, a piecewise control model based on predictive control theory is proposed.Using inequality constraints to segment the control problem, the paper proposes turning radius as the constraint condition to solve the problem of optimizing process goal In each control phase, the single-step prediction method is used to find the optimal target point, and the optimal control amount is directly solved by the analytical method under the input constraint and the state constraint to improve the speed of understanding the optimal problem The whole control model and method have clear objectives, fast calculation and small calculation, which can meet the needs of real - time control completely. The simulation results prove the effectiveness of the prediction model.