磁导航AGV纠偏控制模型的研究与设计

针对轮式移动机器人循迹偏差问题,以差速驱动型AGV为研究对象,基于LQR(LinearQuadratic Regulator)线性二次型最优控制算法设计磁导航AGV纠偏控制器,控制AGV速度实现循迹跟踪。通过对磁导航AGV偏差建模,将决定AGV运行的驱动电机线性化,建立其状态空间模型,判别系统能控、能观性;同时用Matlab进行仿真设计,实验得到最佳Q、R完成最优控制器设计;通过Simulink设计基于LQR最优控制算法的AGV纠偏控制系统模型,并与传统PID控制算法进行对比分析表明,论文设计的基于LQR算法纠偏控制模型具有更好的收敛性和实时响应性。

Research and Design of Deviation Correction Control Model for Magnetic Navigation AGV

Aiming at the problem of tracking deviation of wheeled mobile robots,the differential-driven AGV is taken as the research object.Based on LQR(L inear Quadratic Regulator)linear quadratic optimal control algorithm,a magnetic navigation AGV deviation correcting controller is designed to control the speed of AGV to achieve track tracking.By modeling the deviation of magnetic navigation AGV,the driving motor that determines the operation of AGV is linearized,and its state space model is estab lished to judge the controllability and observability of the system.At the same time,the simulation design is carried out with Matlab.The optimal Q and R are obtained from the simulation experiment to complete the optimal controller design.The model of AGV devi ation correction control system based on LQR optimal control algorithm is designed by Simulink and compared with traditional PID control algorithm.It is shown that in this paper based on LQR algorithm deviation control model has better convergence and re al-time response.