自动引导车路径偏差的控制研究  

Path Deviation Control of Automatic Guided Vehicle

作　　者：许伦辉[1,2] 刘景柠 朱群强 王晴[1] 谢岩[1] 索圣超 

机构地区：[1]江西理工大学电气工程及其自动化学院,江西赣州3410002 [2]华南理工大学土木与交通学院,广东广州510640

出　　处：《广西师范大学学报（自然科学版）》2015年第1期1-6,共6页Journal of Guangxi Normal University:Natural Science Edition

基　　金：国家自然科学基金资助项目(61263024)

摘　　要：本文针对差速驱动的AGV路径偏差控制,建立了小车路径偏差的运动模型。利用数学方法分析路径偏差与车轮速度的关系,深入分析,得到两驱动轮驱动电压与偏差变量的等量关系,从而得到系统的结构框图,从根本上分析了AGV的控制原理。通过对比激光导航,磁导航,视觉导航等控制方式,最后选择无适应性,稳定性更强的无轨导航,采用模糊控制理论,将系统简化为以偏差变量为输入,驱动电压差为输出的双输入单输出系统。仿真结果表明,该方法有较好的路径纠偏能力。同时也为无轨AGV路径控制奠定基础。This paper aims at the AGV path deviation control with differential driven, and builds a motion model of AGV path deviation. Using mathematical methods to analyze the relationship between the path deviation and the wheel speed, and getting two driving voltage and deviation variable equivalent relationship through in-depth analysis, the structure diagram of the system is obtained. The system is the simplified to a system with double imput and single out put based on the condition of the diviation variables as the input and driving voltage difference as the output through fuzzy control. The simulation results show that the method has good ability of path correction.

关 键 词：AGV 差速驱动 路径偏差 模糊控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]