视觉导引AGV轨迹跟踪控制及仿真验证  

Vision-Guided AGV Trajectory Tracking Control and Simulation Verification

作　　者：张如灏 崔岸[1] 张睿[1] 刘立源 ZHANG Ru-hao;CUI An;ZHANG Rui;LIU Li-yuan(Jilin University,State Key Laboratory of Automotive Simulation and Control,Jilin Changchun 130025,China)

机构地区：[1]吉林大学汽车仿真与控制国家重点实验室,吉林长春130025

出　　处：《机械设计与制造》2024年第3期48-52,56,共6页Machinery Design & Manufacture

摘　　要：针对双向双驱视觉AGV的轨迹跟踪问题,建立AGV运动学模型和控制系统状态方程,基于直线、圆弧、非圆弧三种路径模型,采用最小均方差法和内切圆弧修正法分别获得AGV在直线、圆弧和非圆弧三种路径运行过程中的距离偏差和角度偏差;设计并验证模糊PID控制器,同时采用PreScan软件进行轨迹跟踪控制的仿真验证。结果表明,模糊PID控制器能够通过模糊规则智能调节参数,减少超调,稳定AGV的运动轨迹,且稳定时间较短,能够实现AGV稳定有效的轨迹跟踪。Aiming at the trajectory tracking problem of bidirectional dual drive vision AGV,the kinematics model and control sys-tem state equation of AGV are established.Based on the three path models of straight line,arc and non arc,the distance devia-tion and angle deviation of AGV in straight line,arc and non arc path are obtained respectively by using the minimum mean square error method and the tangent arc correction method.The fuzzy PID controller is designed and compared with PID controller The controller is compared and verified,and the trajectory tracking control is simulated and verified by PreScan software.The re-sults show that the fuzzy PID controller can intelligently adjust parameters through fuzzy rules,reduce overshoot,stabilize the tra-jectory of AGV,and the stable time is short,which can achieve stable and effective trajectory tracking of AGV.

关 键 词：视觉AGV 路径模型 模糊PID控制 轨迹跟踪 

分 类 号：TH16[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]