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为了解决目前差速驱动车体在行进过程的跑偏问题,文章提出了将现有的差速驱动装置更换为舵轮驱动的同时,在运动控制方面引入模糊控制算法。在AGV运动规律的基础上,以法向位置误差和方位角误差为输入,舵轮转角为输出,建立了双输入单输出模糊控制系统。通过实验的分析和比较,确定了模糊控制器中的各个参数,并且利用自制的小车进行了相关的运动学实验,验证了控制系统以及所建立模型的正确性,为进一步研究激光导引AGV小车打下了理论和实验基础。实验结果表明,AGV控制系统运行平稳,性能良好,最大行使速度可达40m/min,导航精度可达±10mm,停车精度可达±5mm,能够连续工作24h,能够满足实际生产需要。
In order to solve the current deviation problem of differential driving body in the running process, the article proposes that the existing differential drive device is replaced by the steering wheel drive and the fuzzy control algorithm is introduced in motion control. Based on the law of AGV movement, taking the normal position error and azimuth error as input and the steering wheel angle as output, a two-input and one-output fuzzy control system is established. Through the analysis and comparison of experiments, the parameters of the fuzzy controller are determined, and the related kinematics experiments are carried out by the self-made car, the correctness of the control system and the established model is verified. In order to further study the laser-guided AGV car Laid the theoretical and experimental basis. The experimental results show that the AGV control system runs smoothly and has good performance. The maximum speed can reach 40m / min, the navigation accuracy can reach ± 10mm, the parking accuracy can reach ± 5mm, and it can work 24h continuously to meet the actual production needs.