磁导航AGV分段模糊PI控制器设计

为了提高3C产品的自动化生产效率,以STM32F407ZGT6单片机为系统控制器核心,对磁敏传感器组寻迹的滚筒式AGV设计了16位磁敏传感器的阵列布置形式,并根据此形式以及磁导引滚筒式AVG的寻迹约束条件和行走要求提出了路径的识别与轨迹跟踪算法,即分段模糊PI控制算法,以适应AGV小车在直行 、转弯和停车三种状态下存在的位置偏差和角度偏差的控制.运用Matlab软件中Simulink模块搭建模糊控制器的仿真模型,对AGV的轨迹跟踪进行仿真,并进行了实际行走测试.AGV行驶时路径偏差保持在8 mm以内,可保证AGV稳定准确地跟踪预设路径,且具有较强的鲁棒性.

Piecewise Fuzzy PI Controller Design of Magnetic Navigation AGV

In order to improve the efficiency of the automated production of 3C product ,an array arrangement for sensors about the 16 po-sition magnetic sensor group tracing cylinder sensor of the AGV is designed ,which uses STM32F407ZGT6 microcontroller as the core of the system controller .A path identification and trajectory tracking algorithm on the basis of the form are proposed .By using the subsec-tion fuzzy PI control method ,the position deviation and angle deviation of the AGV trolley in the three states of straight -line ,turning and parking can be controlled .Then the Simulink module is used to build a simulation model of the fuzzy controller to simulate the trajectory tracking of the AGV .Eventually an actual walking test is carried out .The AGV can be kept within 8 mm and can stably track the refer-ence path under various conditions with high accuracy and robustness .