摘要
本文提出一种用于柔性加工系统(FMS)的自动导向车(AGV)导引控制系统。该系统不仅能导引直线运行,而且能控制转弯。当自导车沿直线行驶时,它由设置在地面的气体激光器发出的激光束导引,由最优线性调节器控制;当自导车转弯时,它由三束激光和角锥棱镜检测位置和方向,由模糊控制器控制。实验表明该导引控制系统可行,它将使FMS的物流系统具有更高的柔性度。
This paper presents a guide and control system of laser—guiding automatic guided vehicle(AGV)applied to the goods transportation system of flexible manufacturing system(FMS).Thissystem can not only run along a straight line,but also turn a corner.When the AGV goes alonga straight line,it is guided by a laser beam shot by a gas laser on the ground,and is controlled bythe optimal linear regulator.When it turns a corner,its position and direction is measured bythree laser beams and corner cubes,and controlled by a fuzzy controller.Experiments show thatthe system is feasible and it will make the goods transportation system more flexible.
出处
《国防科技大学学报》
EI
CAS
CSCD
北大核心
1991年第2期39-44,共6页
Journal of National University of Defense Technology
关键词
控制系统
FMS
自动导向车
激光
flexible manufacturing system
control system
automatic guided vehicle
laser guiding
optimal linear regulator
fuzzy controller
