基于Sweep法的自动引导车路径追踪调节器设计  

Design of Path Tracing Regulator for Automatic Guided Vehicle Based on Sweep Method

作　　者：朱永胜[1] 董燕[1] 刘涛[2] 陈敬建[2] 

机构地区：[1]中原工学院,郑州450007 [2]郑州大学电气工程学院,郑州450001

出　　处：《中原工学院学报》2008年第3期8-12,共5页Journal of Zhongyuan University of Technology

基　　金：国家自然科学基金资助项目(50177028)

摘　　要：提出了一种基于sweep法的自动引导车路径追踪调节器的设计方法.根据自动引导车的状态空间模型,采用成本函数最小的标准来推导求解反馈矩阵的最佳控制问题,并对该两端点边界值问题引入sweep法解得要求的时变最佳控制.仿真实验结果表明,自动引导车在该路径跟踪调节器的速度及加速度补偿作用下可以很快消除3个追踪误差量,保证自动引导车具有准确跟随预定路径的能力.A design scheme of path tracing regulator for automatic guided vehicle based on sweep method is put forward in this article. On the foundation of automatic guided vehicle＇s state space model, the optimal control of feedback matrix K is solved by means of the minimal cost function, and the sweep method is introduced to solve the required time varying optimal control K. The simulation experiments show that by the compensation of the velocity and acceleration of the path tracing regulator, automatic guided vehicle （AGV） can eliminate the 3 track errors, which ensure the accurate path-following ability of the AGV.

关 键 词：自动引导车 路径追踪调节器 时变最佳控制 成本函数 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]