摘要
针对四轮驱动型自动导引小车(AGV)路径跟随的问题,在对该AGV小车进行了分析的基础上建立了其运动学模型,并且基于参数自整定的思想,应用模糊控制理论,设计出了"以横向偏差和角度偏差为输入,进行模糊推理并在线修正比例参数"的模糊控制器。通过调节比例参数实现了每个电机输出转速的改变,最终实现了对AGV小车路径跟随和偏差修正的控制;最后在Matlab-Simulink环境中进行了仿真。研究结果表明,控制系统在直线和圆路径跟随上表现良好,其有效性和可行性得到了验证。
Aiming at four-wheel-drive AGV car path following problem, a kinematic model of the car was established and analyzed. With parameter tuning and fuzzy control theory, a fuzzy controller was designed. The controller with lateral deviation and angle deviation as input can reasoning and correct proportion parameter online. Each motor output speed was changed by adjusting the proportion parameter, which makes the AGV achieve better performance. The control system was simulated in Matlab-Simulink. The results indicate that the system follows in the linear and circular path on a good performance, the method is effect and feasibility.
出处
《机电工程》
CAS
2013年第8期1025-1028,共4页
Journal of Mechanical & Electrical Engineering
关键词
自动导引小车
模糊控制
参数自整定
automated guided rehicle（AGV）
fuzzy control
parameter self-tuning
