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Suhua Hsieh Ying-Jer Shih 《The International Journal of Advanced Manufacturing Technology》1994,9(1):20-34
The purpose of this paper is to propose an easy and quick method for the development of an automated guided vehicle system (AGVS) model. It suggests that the AGVS model can be developed directly by the union of modulised floor-path nets without any modification. Several modulised floor-path nets for both uni- and bi-directional systems are established in this paper. To make sure that the complete model obtained by this method is robust, the modulised floor-path nets are required to possess several essential properties — safeness, boundedness, conservation, reachability and liveness. To keep these properties in the complete model after the union, three union rules and an union procedure are proposed. 相似文献
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路径识别和路径跟踪是AGV视觉导引控制中的2个关键问题,本文利用颜色信息识别路径,采用模糊控制策略跟踪路径,系统的鲁棒性高,同时也兼顾了系统的实时性要求。实验表明该算法效果良好。 相似文献
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Dr Suhua Hsieh Kuei-Huang Max Lin 《The International Journal of Advanced Manufacturing Technology》1994,9(2):71-78
This paper presents a new terminology, the AGVS mechanism , and a three-stage design concept for achieving a robust AGVS mechanism. The definition of the AGVS mechanism will be given first. The three-stage design concept, which includes the composite-floor-path system, the cell control system and the collision-free zone control system, will also be described in this paper. 相似文献
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针对AGV轨迹跟踪问题,采用模糊控制原理,设计了一种模糊控制器。通过对AGV运动学模型的分析,得到了控制AGV在绝对坐标系中位姿变化的2个变量,并将这2个变量作为模糊控制器的输出变量,实现对AGV的轨迹控制。利用Matlab进行仿真,仿真结果较理想。 相似文献
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AGV视觉导引控制问题研究 总被引:2,自引:0,他引:2
路径识别和路径跟踪是AGV视觉导引控制中的两个关键问题,本文利用颜色信息识别路径,采用模糊控制策略跟踪路径,系统的可靠性高,同时也兼顾了系统的实时性要求。实验表明上述算法效果良好。 相似文献
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针对四轮驱动型自动导引小车(AGV)路径跟随的问题,在对该AGV小车进行了分析的基础上建立了其运动学模型,并且基于参数自整定的思想,应用模糊控制理论,设计出了“以横向偏差和角度偏差为输入,进行模糊推理并在线修正比例参数”的模糊控制器.通过调节比例参数实现了每个电机输出转速的改变,最终实现了对AGV小车路径跟随和偏差修正的控制;最后在Matlab-Simulink环境中进行了仿真.研究结果表明,控制系统在直线和圆路径跟随上表现良好,其有效性和可行性得到了验证. 相似文献
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Synthesis of feedback control elements for discrete event systems using Petri net models and theory of regions 总被引:2,自引:2,他引:2
M. Uzam 《The International Journal of Advanced Manufacturing Technology》2004,24(1-2):48-69
This paper describes a method for constructing a Petri-net-based controller for a discrete event system (DES) modelled by a Petri net. Assuming that an uncontrolled Petri net model of the DES and a set of forbidden state specifications are given, feedback control elements, i.e. a set of places and related transitions, with initial marking, are computed using the theory of regions, which is a formal synthesis technique for deriving Petri nets from automaton-based models. When feedback control elements are added to the uncontrolled Petri net model, the controlled (closed-loop) Petri net model of the system is obtained. The controlled Petri net model obtained is maximally permissive while guaranteeing that forbidden states do not occur. The proposed method is computationally efficient and does not suffer from the state explosion problem. Two examples are provided to show the applicability of the proposed method. 相似文献
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变结构控制方法在AGV控制器设计中的应用 总被引:1,自引:0,他引:1
在考虑系统非完整约束和有关假设上,使用矩阵方法推导出前轮驱动转向、后轮从动AGV的状态空间方程和控制方程。通过选择带周期函数输出函数,得到驱动电机和转向电机的驱动转矩。同时,设计了上位机采用PC机,下位机采用单片机的无线通讯系统。实验证明了带周期函数输出函数变结构控制器和无线通讯系统的有效性。 相似文献
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运用Petri网方法,给出了PLC控制系统的建模准则,在此基础上,对PLC控制系统进行了性能分析和仿真研究。 相似文献
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将AGV控制系统作为FMS控制系统中的一个通用组件来研究其建模与设计方法.首先,采用面向对象Petri网建模技术建立了AGV控制组件的动态模型.其次,进行了AGV控制组件与FMS中其它组件的基于CORBA的通信接口的定义.在此基础上,为了使AGV控制组件具有良好的维护性、重用性和柔性,建立了AGV控制组件的面向对象类的统一建模语言(UML)模型.最后进行了AGV控制组件设计和开发. 相似文献