基于协同模糊控制的四轮驱动AGV稳定性研究

为提升四轮驱动AGV运行稳定性,通过建立其运动学模型,获得小车位姿、运动形式与各驱动轮速度的内在关系;提出小车协同运动控制技术,运用ADAMS软件对小车进行运动仿真并分析,验证了该控制技术的合理性;通过分析小车纠偏公式,提出模糊纠偏控制技术,建立小车协同模糊控制联合仿真模型,验证了协同模糊控制技术的合理性;搭建实验样机进行现场测试,结果表明:采用协同模糊控制技术可以使小车轨迹偏差稳定在±10 mm以内,单摆摆角范围在±5°以内,且均优于独立PID控制技术。

Research on Stability of Four-wheel Drive AGV Based on Cooperative Fuzzy Control

In order to improve the operational stability of the four wheel drive automated guided vehicle(AGV), the kinematics model was established to obtain the internal relationship among the pose, motion form of the vehicle and the speed of each driving wheel.The coordinated motion control technology of the vehicle was proposed, and ADAMS was used to simulate and analyze the motion of the vehicle, and the rationality of the control technology was verified. By analyzing the vehicle correction formula, the fuzzy correction control technology was proposed. The cooperative simulation model of the vehicle cooperative fuzzy control was established and the rationality of the cooperative fuzzy control technology was verified.The experimental prototype was set up for the field test. The results show that using the coordinated fuzzy control technology, the vehicle trajectory deviation is within ±10 mm and the single pendulum angle range is within ±5°, the two paremeters are superior to the independent PID control technology