基于三菱PLC的AGV磁导航PID模糊控制与实现  

PID Fuzzy Controller and Measurement Research of Magnetic Navigation AGV Based on Mitsubishi PLC

作　　者：赵靖 李锻能[2] 王冲 ZHAO Jing;LI Duan-neng;WANG Chong(Air logistics Research Center of Guangxi,Guilin Untversity of Aerospace Technology,Guilin 54004,China;School of Electro-Mechanical Engineering,Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]桂林航天工业学院广西航空物流研究中心,广西桂林541004 [2]广东工业大学机电工程学院,广东广州510006

出　　处：《测控技术》2019年第2期146-150,共5页Measurement & Control Technology

摘　　要：为满足3 C产品自动化生产要求设计了一款实用型AGV,选择以三菱FX-3 U PLC为控制核心,采用磁导航循迹模式,以及差速式驱动方案。针对PLC模糊控制难点,解析了读取RFID卡所必须的Modbus协议,对输入量进行分区模糊处理,设计出基于磁条点位与路径不同来调整PID模糊控制因子的方案。建立运动方程并进行Matlab仿真,最后在生产车间测试该方案。测试结果表明,采用该算法使小车位姿能快速趋于稳定,最大跟踪误差保持在±5°以内,因而可显著提高AGV快速路径跟踪能力,具有较强的鲁棒性。To meet the automatic production requirements of 3C products,a practical AGV car was designed.Mitsubishi FX-3U PLC is taken as the control core,magnetic navigation is chosen as its tracking mode,and differential drive is used for the solutions.To solve the difficulty for fuzzy control of PLC,the Modbus agreement which is necessary to read RFID cards is parsed,fuzzy dispose for the partition input is used and the scheme which can adjust PID fuzzy control factors for itself based on the difference of magnetic stripe and paths is designed.The motion equation was established and carried out by Matlab simulation,finally the designed AGV is tested in the production workshop.Test results show that the algorithm can make the car position quickly tend to be stable,and keep the biggest tracking error remain within ±5°.So it can significantly improve the fast track tracking ability of AGV car with strong robustness.

关 键 词：三菱FX-3UPLC AGV 磁导航 MODBUS协议 PID模糊控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]