激光导引AGV模糊控制技术研究  

Study of the laser guided AGV fuzzy control technology

作　　者：吴焱明[1] 王秋杰[2] 伍斌[2] 赵韩[2] 

机构地区：[1]合肥工业大学机械与汽车工程学院,合肥230009 [2]合肥工业大学,合肥230009

出　　处：《起重运输机械》2011年第2期74-77,共4页Hoisting and Conveying Machinery

基　　金：安徽省数字化实验重点建设项目

摘　　要：以工业实用型激光导引AGV为研究对象,根据其实际行走时的特点,分析了激光导引AGV路径误差形成的原因,对AGV的模糊控制技术做了进一步研究。根据AGV行走速度调整模糊比例因子,并将具有预测效果的微分思想融入到常规模糊控制中,设计了一种新的模糊预测控制算法。经过大量实验证明,该控制算法与常规模糊控制算法相比,可以显著提高AGV高速行走时路径跟踪的快速性和平稳性。This paper takes the industrial applicable laser guided AGV as the study object,analyzes the causes of the path error of the laser guided AGV and performs further study for the AGV fuzzy control technology in accordance with the characteristics of the laser guided AGV when it is running.This paper adjusts the fuzzy scale factors in accordance with the AGV travel speed,puts the differential idea with the predicted effect into the conventional fuzzy control algorithm and designs a new fuzzy predictive control algorithm.Experimental results demonstrate that,compared with the conventional fuzzy control algorithm,this control algorithm can improve the rapidity and stability of the path tracking when the AGV is travelling at a high speed.

关 键 词：激光导引AGV 路径跟踪 模糊控制 预测算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]