摘要
针对一般AGV控制器中非柔顺转弯、相互之间无通讯联系以及跟踪误差在一定范围内有增加趋势的缺点,在考虑非完整约束基础上分析了柔顺运动模式下的AGV转弯问题,得出其状态空间和控制方程。同时,设计了上位机为PC机,下位机以AT89S52单片机为主控器的CAN总线无线通讯系统。在最优参数下进行了AGV路径跟踪仿真和实验,证明了柔顺运动方式下CAN总线和变结构控制方法的有效性。
In view of the disadvantages of the non-flexible turning, no communications and the increasing trend of some AGV's tracking errors, the turning problems in the flexible mode were analyzed, the state space and the control equation was also obtained by taking the non-holonomic constraints into considerations. At the same time, a CAN fieldbus communication system in which the personal computer and the AT89S52 micro-controller were used as the master controller and slave controller respectively was designed. The tracking simulations and the experiments with the optimum parameters were made and conducted, and the validity of the CAN fieldbus and the variable structural control method were approved. At last, some conclusions were obtained.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2004年第16期1443-1446,共4页
China Mechanical Engineering
基金
国家863高技术研究发展计划资助项目(2001AA421260)
