基于多重变量控制策略与模糊PID的AGV农业小车设计与实现  

Design and Implementation of AGV Agricultural Vehicle Based on Multivariable Control Strategy and Fuzzy PID

作　　者：张瑞森 万兴鸿 高昕 Zhang Ruisen;Wan Xinghong;Gao Xin(Chengdu Institute of Technology,Chengdu 611730,Sichuan,China)

机构地区：[1]成都工业学院,四川成都611730

出　　处：《农业技术与装备》2022年第8期53-55,58,共4页Agricultural Technology & Equipment

基　　金：除草机器人运动结构设计与杂草智能识别算法的研究(202011116001)国家级大学生创新创业训练项目。

摘　　要：传统的自动引导(Automatic guided vehicle,AGV)四轮小车不能全方位运动,不能适应现代农业所面对的复杂的工作环境。文章提出了一种基于多个传感器感知的AGV小车,提出了相应的多重变量控制策略,分析了该车的运动特点,在硬件上进行了电路设计。小车利用新型模糊比例-积分-微分(PID)算法结合多重控制策略进行智能控制,充分利用红外线和超声波传感器所获得的传感信息,为系统提供了更强的环境感知和避障能力。核心的算法设计结果和现场工作结果都表明,小车结构稳定,灵敏度高,实时性强,能较好地适应复杂的工作环境。The traditional AGV four-wheel car can not move in all directions and can not adapt to the complex working environment faced by modern agriculture. Therefore, this paper proposes an AGV car based on multi-sensor sensing, and proposes the corresponding multivariable control strategy based on this. Furthermore, this paper theoretically analyzes the movement characteristics of the car, and designs the circuit in the hardware. The car uses the new fuzzy PID algorithm combined with multiple control strategies for intelligent control, and makes full use of the sensing information obtained by infrared and ultrasonic sensors, which provides the system with a stronger ability to sense the environment and avoid obstacles. The core algorithm design results and field work results show that the car has stable structure, high sensitivity, strong real-time performance, and can be easily used in complex working environment.

关 键 词：自动引导小车 多传感器 麦克纳姆轮 模糊PID算法 循迹避障 

分 类 号：S221[农业科学—农业机械化工程]