發(fā)布時間：2019-03-30 11:44

【摘要】：自動導引車(AGV,Automated Guided Vehicle)作為一種自動化程度高、運行柔性好和空間利用率高的輸送設備,廣泛應用于先進制造業(yè)和現代倉儲業(yè)。為了滿足大型部件搬運移載對AGV承載能力和運動靈活性的要求,研發(fā)具有多個差速驅動單元的模塊化AGV,研究多個差速驅動單元的協同運動控制,具有重要的理論意義和工程應用價值。首先研究了一種單目視覺導引雙差速驅動AGV的協同運動控制,攝像機安裝在AGV本體上并處于兩個驅動單元的中心位置。建立了非線性運動學模型并進行輸入-輸出線性化,分析了協同運動控制的速度約束關系,提出了一種融合偏差智能轉化評價函數法和指數穩(wěn)定控制的混合控制律。評價函數法可針對不同的偏差狀態(tài)智能選擇合適的控制量以將其轉化到指數穩(wěn)定控制的適用范圍,再通過指數穩(wěn)定控制實現姿態(tài)角偏差和距離偏差向零的同步收斂。其次研究了一種雙目視覺導引雙差速驅動AGV的協同運動控制,每個驅動單元上安裝有一臺攝像機。提出了一種PID控制和基于偏差狀態(tài)的人工智能控制相結合的混合控制律,在大偏差狀態(tài)設計了針對第三類偏差狀態(tài)的同步糾偏控制方法,對于其他偏差狀態(tài)則采用PID控制律。基于Matlab軟件的數字仿真驗證了上述算法的有效性。在理論研究的基礎上,采用嵌入式計算機系統研制了雙差速驅動AGV的車載控制器,完成了大量系統運行測試與路徑跟蹤實驗。AGV可精確、穩(wěn)定地跟蹤直線、圓弧以及復雜形狀的導引路徑,實驗結果驗證了所提協同控制技術的有效性,這為下一步研制模塊化、可重構重載AGV確立了堅實的技術基礎。
[Abstract]:Automatic guided vehicle (AGV,Automated Guided Vehicle) is widely used in advanced manufacturing and modern storage industry as a kind of transportation equipment with high degree of automation, good operation flexibility and high space utilization. In order to meet the requirements of AGV load carrying capacity and motion flexibility for large components, a modular AGV, with multiple differential drive units is developed to study the cooperative motion control of multiple differential drive units. It has important theoretical significance and engineering application value. Firstly, a kind of cooperative motion control of monocular vision guided double differential drive AGV is studied. The camera is installed on the AGV body and located in the center of two driving units. The nonlinear kinematics model is established and the input-output linearization is carried out. The velocity constraint relation of the cooperative motion control is analyzed, and a hybrid control law is proposed, which combines the intelligent transformation evaluation function method of deviation and the exponential stability control. The evaluation function method can intelligently select appropriate control variables for different deviation states to transform them into the applicable range of exponential stability control, and then realize the synchronous convergence of attitude angle deviation and distance deviation to zero by exponential stability control. Secondly, a kind of cooperative motion control of binocular vision guided dual differential drive AGV is studied, each drive unit is equipped with a camera. A hybrid control law based on PID control and artificial intelligence control based on deviation state is proposed. A synchronous bias correction control method for the third kind of deviation state is designed in the large deviation state, and the PID control law is adopted for other deviation states. The effectiveness of the algorithm is verified by digital simulation based on Matlab software. On the basis of theoretical research, a vehicle controller with double differential speed driving AGV is developed by using embedded computer system. A large number of system running tests and path tracking experiments have been completed. AGVs can track straight lines accurately and stably. The experimental results show the effectiveness of the proposed cooperative control technique, which establishes a solid technical foundation for the development of modularization and reconfigurable heavy duty AGV in the next step.
【學位授予單位】：南京航空航天大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TP242

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