| 叉车式AGV模糊控制系统的设计与试验研究 |
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| 引用本文： | 马凯,林义忠,覃尚活,王诗惠. 叉车式AGV模糊控制系统的设计与试验研究[J]. 自动化与仪表, 2020, 0(3): 27-30,72 |
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| 作者姓名： | 马凯 林义忠 覃尚活 王诗惠 |
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| 作者单位： | 广西大学机械工程学院;桂林电子科技大学北海校区 |
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| 基金项目： | 南宁市科学研究与技术开发计划项目(20150337)。 |
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| 摘 要： | 针对叉车式AGV的结构和非完整约束的特点,提出了基于模糊控制理论的磁导引AGV的运动控制方案。在对车体位移偏差和方向角偏差模糊化的基础上,根据模糊控制器推理分析结果对AGV的运动轨迹进行纠偏,使AGV始终沿着规定的磁导引路径运动。测试结果表明,该AGV控制方法的轨迹跟踪精度完全可以满足运行要求。
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| 关 键 词： | 叉车式自动导引车 磁导引 模糊控制 轨迹跟踪 |
Design and Experimental Research of the Fuzzy Control System for Forklift AGV |
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| MA Kai,LIN Yi-zhong,QIN Shang-huo,WANG Shi-hui. Design and Experimental Research of the Fuzzy Control System for Forklift AGV[J]. Automation and Instrumentation, 2020, 0(3): 27-30,72 |
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| Authors: | MA Kai LIN Yi-zhong QIN Shang-huo WANG Shi-hui |
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| Affiliation: | (College of Mechanical Engineering,Guangxi University,Nanning 530004,China;Beihai Campus,Guilin University of Electronic Science and Technology,Beihai 536005,China) |
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| Abstract: | According to the structure and non-holonomic constraints of forklift automated guided vehicle(AGV),a motion control scheme of magnetic guided AGV based on fuzzy control theory is proposed. On the basis of fuzzing the displacement deviation and direction angle deviation of the vehicle body,the motion track of AGV is rectified according to the inference analysis results of the fuzzy controller,so that AGV always moves along the specified magnetic guidance path. Experimental results show that the trajectory tracking accuracy of the AGV control method can fully meet the operational requirements. |
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| Keywords: | forklift AGV magnetic guidance fuzzy control trajectory tracking |
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