發(fā)布時間：2018-06-29 06:27

  本文選題：AGV + 運動模型　； 參考：《江西理工大學》2015年碩士論文

【摘要】：自動導引小車(Automatic Guided Vehicle)指的是一種在無人操作情況下,承載一定貨物自主、準確的到達目的地的搬運車,是輪式機器人的一種。這樣一智能自動化的實現(xiàn)集多項技術(shù)于一體,綜合了當今前沿科技。AGV作為現(xiàn)代化物流的重要設備能提高企業(yè)生產(chǎn)水平,不僅減少了勞動力資源浪費還減少成本,獲得的回報也更高更快,為企業(yè)爭取了利益的最大化。在自動導引小車的研究過程中,我們發(fā)現(xiàn)作為核心技術(shù)的路徑跟蹤技術(shù)的優(yōu)劣程度直接影響著AGV性能的好壞。本文分析導引小車的結(jié)構(gòu)特點,結(jié)合研究內(nèi)容選定適宜的三輪式導引小車。根據(jù)該類型小車的運動特性和運動關(guān)系建立運動模型。分析模型得到距離偏差和角度偏差與驅(qū)動輪速度關(guān)系。再聯(lián)系AGV驅(qū)動系統(tǒng)的動態(tài)和靜態(tài)特性,利用系統(tǒng)辨識法得到系統(tǒng)的傳遞函數(shù),從而建立系統(tǒng)的狀態(tài)空間模型。按照模糊控制器的設計方法,選取以角度偏差和距離偏差線性組合后的綜合偏差最為輸入之一,將該綜合偏差的變化率作為另一輸入,同時以兩驅(qū)動輪電壓差作為輸出變量。但是發(fā)現(xiàn)在小偏差情況下,模糊控制器的表現(xiàn)不如常規(guī)控制器。針對這一情況,提出了采用閾值切換法優(yōu)化控制器,實現(xiàn)模糊控制和常規(guī)控制的優(yōu)勢互補。仿真結(jié)果表明:與傳統(tǒng)控制器的控制效果相比模糊控制器有較大優(yōu)勢,特別是在較大偏差情況下模糊控制器能快速糾正路徑。經(jīng)過優(yōu)化后的控制器能夠使AGV在各種情況下有較強的適應性,同時改善了輸出振蕩和路徑跟蹤出現(xiàn)的超調(diào)現(xiàn)象。
[Abstract]:Automatic guided vehicle (AV) is a kind of wheeled robot, which carries certain goods independently and reaches its destination accurately under the condition of nobody operating. The realization of intelligent automation integrates many technologies, synthesizes the advanced technology. AGV, as an important equipment of modern logistics, can improve the production level of enterprises, not only reduce the waste of labor resources, but also reduce costs. The return is also higher and faster, maximizing profits for the enterprise. In the research process of automatic guided vehicle, we find that the performance of AGV is directly affected by the advantages and disadvantages of the path tracking technology as the core technology. In this paper, the structural characteristics of guided vehicle are analyzed, and the suitable three-wheeled guided vehicle is selected according to the research contents. A motion model is established according to the motion characteristics and relationship of the car. The relationship between the distance deviation and the angle deviation and the speed of the drive wheel is obtained by analyzing the model. Considering the dynamic and static characteristics of AGV driving system, the transfer function of the system is obtained by using the system identification method, and the state space model of the system is established. According to the design method of fuzzy controller, one of the most input comprehensive deviations is selected after the linear combination of angle deviation and distance deviation. The rate of variation of the synthetic deviation is taken as another input, and the voltage difference between two driving wheels is taken as the output variable. However, it is found that the performance of fuzzy controller is inferior to that of conventional controller in the case of small deviation. In view of this situation, a threshold switching method is proposed to optimize the controller to realize the complementary advantages of fuzzy control and conventional control. The simulation results show that the fuzzy controller has more advantages than the traditional controller, especially the fuzzy controller can quickly correct the path in the case of large deviation. The optimized controller can improve the adaptability of AGV under various conditions and improve the overshoot phenomenon of output oscillation and path tracking.
【學位授予單位】：江西理工大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TP242

【共引文獻】

相關(guān)期刊論文 前8條

1 李鑫;盧剛;李聲晉;周勇;李啟瑞;;基于模糊PID算法的輪式機器人驅(qū)動輪控制器設計[J];微特電機;2011年11期

2 鐘漢生;;基于模糊PID的自動駕駛儀設計[J];中國新技術(shù)新產(chǎn)品;2009年01期

3 黃克亞;陳慶;;基于數(shù)字PID算法的機器人運動控制[J];自動化應用;2012年12期

4 黃昊聰;原寶太;;4自由度并聯(lián)平臺模糊控制系統(tǒng)設計[J];現(xiàn)代計算機;2013年07期

5 劉強;劉曉川;劉玉寶;;基于模糊-PID的智能飛控技術(shù)研究[J];自動化技術(shù)與應用;2013年05期

6 焦軍武;盧剛;李聲晉;周勇;;模糊PID算法在電動執(zhí)行器控制系統(tǒng)中的應用[J];微特電機;2014年06期

7 黃克亞;陳慶;;基于PID算法的小型直流電機速度控制研究[J];電機與控制應用;2012年S1期

8 劉欠洋;王殿君;劉占民;陳康偉;嵇鐘輝;魏輝;;單驅(qū)單向AGV機器人運動學分析及仿真[J];新技術(shù)新工藝;2015年10期

，

本文編號：2081212