AGV数学模型的建立及控制分析  

AGV mathematical modeling and control analysis

作　　者：倪维晨[1] 高强[1] 吕东澔[1] 刘国涛[1] 

机构地区：[1]天津理工大学自动化学院天津市复杂系统控制理论及应用重点实验室,天津300384

出　　处：《起重运输机械》2012年第3期50-53,共4页Hoisting and Conveying Machinery

基　　金：大学生创新性实验计划项目(项目编号:091006013)

摘　　要：根据自动导引车在不同运动状态下的运动特点,确定了该系统的输入与输出,建立了相应状态下的数学模型,在此基础上推导出该模型的动态结构图,并对其开环系统进行Matlab仿真,通过仿真得到自动导引车输入与输出的关系,其与预期的结果相同。最后设计了自动导引车行进控制算法,以更好地对导引车进行控制,并对扰动进行准确的处理控制。According to the characteristics of automatic guided vehicle＇s movement under different motion states,inputs and outputs of the system are determined,the mathematical model is built under the corresponding state,and on that basis the model＇s dynamic structure figure is deduced.The Matlab-simulation of the model＇s open loop system is carried out so that the relation between inputs and outputs of automatic guided vehicles is figured out,which is the same as the predicted results.In addition,the marching control algorithm of automatic guided vehicles is designed so as to control the guided vehicle better and control the disturbance accurately.

关 键 词：自动导引车 数学模型 MATLAB 

分 类 号：TH241[机械工程—机械制造及自动化]