对角式舵轮分布的AGV路径纠偏控制研究  

AGV Deviation Correction of Variable Universe Fuzzy Control with Adaptive Expansion Factor

作　　者：傅伯雄 董璇 刘明立 刘哲 孙晓龙 张明路[2] FU Bo-xiong;DONG Xuan;LIU Ming-li;LIU Zhe;SUN Xiao-long;ZHANG Ming-lu(State Grid Shijiazhuang Power Supply Company,Shijiazhuang 050000,China;School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]国网石家庄供电公司,石家庄050000 [2]河北工业大学机械工程学院,天津300401

出　　处：《科学技术与工程》2023年第12期5145-5151,共7页Science Technology and Engineering

基　　金：国家电网有限公司总部科技项目(kj2021-012)。

摘　　要：针对对角式舵轮分布的自动导航车(automated guided vehicle,AGV)的路径纠偏,提出了一种模糊控制+滑模控制的控制方法。首先,对角式舵轮分布的AGV进行数学描述,对其运动学、动力学分析建模;其次根据运动学模型,以车体位置、角度偏差为输入量,车体转向角度为输出量,设计模糊运动控制器作为外环控制器,然后根据其非线性动力学模型设计滑模控制器作为内环控制器;最后通过MATLAB环境下的Simulink仿真研究,表明所制定的控制策略有效,保证了对角式舵轮分布的AGV的快速且稳定的路径纠偏。Aiming at the path correction of the diagonal steering wheel distribution of automated guided vehicle(AGV),a control method of fuzzy control+sliding mode control was proposed.Firstly,the AGV of the diagonal rudder wheel distribution was mathematically described,and its kinematics and dynamic analysis were modeled.Secondly,according to the kinematic model,the body position and angle deviation were taken as the input amount,and the car body steering angle was the output amount,the fuzzy motion controller was designed as the outer ring controller,and then the sliding mode controller was designed as the inner ring controller according to its nonlinear dynamic model.Finally,through the simulation study of Simulink in MATLAB environment,it shows that the proposed control strategy is effective and ensures the fast and stable path correction of the AGV distributed by the diagonal rudder wheel.

关 键 词：对角式 自动导航车(AGV) 模糊控制 滑模控制 纠偏控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]