摘要
路径跟踪是AGV的关键技术之一,是AGV平稳高效运行的保证。单舵轮AGV是一种常见的结构形式,现有的路径跟踪算法大多复杂度较高,难以满足实际应用的需求。文中针对单舵轮AGV的运动特点及结构特征构造了运动学模型,分析了路径跟踪问题的实质。利用Lyapunov直接法,通过构造函数得到使系统渐近稳定的控制律,并且以导航传感器返回的与预定路径的误差作为输入变量,以舵角的偏转角度作为输出变量,设计出单舵轮AGV的路径跟踪控制器。考虑到车身长度与实际运动过程中AGV舵角摆动频率对控制效果的影响,在控制器中加入了模糊控制的思想。结果表明该算法简单有效,实现了AGV对路径跟踪的要求,提高了AGV的运动性能,取得了理想的应用成效。
Path tracking is one of the key technologies of AGV and is the assurance for AGV smooth and efficient operation.Aimed at the motion and structure characteristics of single steering wheel AGV,kinematics model is constructed,the essence of the path tracking problem is analyzed.Using the Lyapunov direct method,the asymptotic stability of system is obtained by constructing the control law.The feedback error signal from navigation sensor as the input variable and angular deflection of steering wheel as the output variable,the path tracking controller is designed.Considering the bodywork length and the hunting frequency influence on control effect,the ideas of fuzzy control are joined in the controller.Results show that the algorithm is simple and effective and the requirements of path tracking are realized,improve the AGV movement performance and achieve the ideal application effect.
出处
《控制工程》
CSCD
北大核心
2014年第S1期70-72,84,共4页
Control Engineering of China
