磁带导引AGV的自抗扰循迹控制方法  

An ADRC approach to trajectory tracking control of tape guided AGV

作　　者：尹姝[1] 周海海 仇翔[2] Yin Shu;Zhou Haihai;Qiu Xiang(Center of Electrician and Electronics,Zhejiang University of Technology,Hangzhou 310023;College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023)

机构地区：[1]浙江工业大学电工电子中心,杭州310023 [2]浙江工业大学信息工程学院,杭州310023

出　　处：《高技术通讯》2018年第6期547-552,共6页Chinese High Technology Letters

基　　金：浙江省公益项目(2016C31065);浙江省自然科学基金(LR16F030005;LZ15F030003)资助项目

摘　　要：本文研究了磁带导引自动导引小车(AGV)的循迹控制问题,设计了一种线性自抗扰控制器,以达到AGV精准循迹、抗干扰能力强的控制要求。首先,建立了磁带导引AGV循迹误差系统的数学模型,将循迹控制系统的不确定动态描述为系统的加性总和干扰,通过设计扩张状态观测器对这些干扰量进行实时估计,进一步,设计线性自抗扰控制器对这些干扰进行动态线性化补偿,从而降低AGV循迹模型的不确定性及循迹过程中外部随机干扰对循迹控制性能的影响。最后,搭建了磁带导引AGV实验平台,并在该平台上验证了所提出方法的有效性和优越性。This paper investigates the trajectory tracking control problem for tape aided automated guided vehicle（ AGV）,and a linear active disturbance rejection controller（ ADRC） is designed for accurate trajectory tracking and good disturbance rejection control. First,a tracking error system model is established for the tape guided AGV,and the uncertainties are described as an additive bounded disturbance. Then,an extended state observer is designed to estimate the lumped disturbance,and the estimated disturbance is rejected from the system by dynamic linearization compensation. The effects of the model uncertainties on the tracking control performance are thus reduced. Finally,an experiment platform of the AGV system is established,and the effectiveness of the proposed design method is verified by experiments.

关 键 词：自动导引小车(AGV) 磁带导引 循迹控制 线性自抗扰控制 抗干扰 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]