| 电磁导向式差速型自动导向车导向控制仿真系统 |
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| 引用本文： | 陆朝红,王冰,王超. 电磁导向式差速型自动导向车导向控制仿真系统[J]. 起重运输机械, 2002, 0(11): 13-17 |
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| 作者姓名： | 陆朝红 王冰 王超 |
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| 作者单位： | 上海交通大学 |
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| 摘 要： | 针对电磁感应式差速型自动导向车 (AGV)的导向控制系统 ,提出一个相对简化的运动学参考模型 ,并以此作为AGV导向控制系统设计的基础 ,利用MATLAB/Simulink建立了控制仿真系统。通过该仿真系统可以验证诸如PID、模糊控制等AGV运行控制方式 ,检测AGV在多种干扰信号下的运行特性 ,以及测试由AGV车体结构上的变化所带来的影响。另外 ,在Simulink仿真环境中 ,可以直接通过图表方式监测任意状态变量的变化趋势 ,参数的更改相当便捷。试验证明 ,由该仿真系统模拟的参数比较接近实际监测到的数据 ,对于实际小车的控制具有一定的参考价值 ,为今后AGV控制系统的设计提供了依据。
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| 关 键 词： | 自动导向车 仿真系统 非线性系统 |
| 修稿时间： | 2002-08-06 |
Simulation system for the control of wire-guided and differential steering AGV |
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| LU Chao-hong. Simulation system for the control of wire-guided and differential steering AGV[J]. Hoisting and Conveying Machinery, 2002, 0(11): 13-17 |
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| Authors: | LU Chao-hong |
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| Affiliation: | LU Chao-hong |
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| Abstract: | A simulation system for the control of wire guided and differential steering AGV is developed based on a simplified AGV kinematics and the MATLAB/Simulink IDE With this system,kinds of control modes such as PID and fuzzy modes could be verified,further the running characteristics under different interferes and the influence caused by the body change could be tested With the Simulink IDE,any status variables can be monitored by display module,and the related parameters can also be adjusted easily Experiments prove that the data provided by this simulation system is close to the practical one,and this system is useful for actual AGV control and contributes to future AGV design and improvement |
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| Keywords: | automatic guided vehicle simulation system non linear system |
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