基于反演滑模控制的叉车式AGV路径跟踪  

Research on Path Tracking of Forklift AGV Based on Sliding Mode Control

作　　者：李航[1] 向中凡[1] 刘建新[1] 王玉超 王强[1] LI Hang;XIANG Zhongfan;LIU Jianxin;WANG Yuchao;WANG Qiang(School of Mechanical Engineering,XIHUA University,Chengdu 610039 China)

机构地区：[1]西华大学机械工程学院,四川成都610039

出　　处：《西华大学学报（自然科学版）》2021年第6期58-63,共6页Journal of Xihua University:Natural Science Edition

摘　　要：路径跟踪精度是实现叉车式AGV工程应用的关键参数之一。常见的基于趋近律的滑模控制方法不能适应复杂工况的应用需要而且容易产生抖振。为此,文章提出了一种基于幂次趋近律和反正弦函数构成的新型趋近律的滑模控制方法,以实现对叉车式AGV的路径跟踪控制。通过MATLAB软件进行了仿真实验,并进行了原型车实物测试,仿真和实物测试结果表明,所提出的控制方式不仅可以提高叉车式AGV的跟踪精度,而且降低了叉车式AGV运动中产生的抖振。Path tracking accuracy is one of the key parameters to realize the engineering application of forklift AGV. The common sliding mode control methods based on reaching law cannot meet the application needs of complex working conditions and are prone to chattering. Therefore, a new sliding mode control method based on power reaching law and anti-sine function is proposed to realize the path tracking control of forklift AGV. The simulation experiment is carried out by MATLAB software, and the prototype vehicle physical test is also carried out. The simulation and physical test results show that the proposed control method can not only improve the tracking accuracy of forklift AGV, but also reduce the chattering during the movement of forklift AGV.

关 键 词：机器人 叉车式自动导引车 跟踪精度 位置跟踪 滑模控制 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]