激光导引车模糊控制技术研究

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.

The Research of Fuzzy Control Technology on Laser Guided Vehicle

In order to solve the differential drive running deviation problem in the process of car body, this paper puts forward the existing differential drive replacement for wheel drive at the same time, introducing the fuzzy control algorithm in motion control. On the basis of AGV motion law, and the position error and azimuth error for input, steering wheel angle for the output, double input and single output fuzzy control system is established. Through the experiment analysis and comparison, to determine the various parameters of the fuzzy controller, and the relevant kinematics is studied by using a homemade car experiment, verify the validity of the control system and the established model, 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 stable operation and good performance, its biggest exercise speed can be up to 40 m/min, the navigation precision can be up to ±10mm, parking precision can be up to ±5mm, can work continuously for 24h, to meet the needs of the practical production