摘要
在仓储搬运的过程中,AGV系统的转向角度经常出现误差,为得到精度更高的转向结果,设计仓储搬运AGV转向角度控制方法。先建立仓储搬运AGV运动学模型,然后设计仓储搬运AGV转向角度控制器,确定转换方向时的输入输出变量、控制变量以及变量的改进率,设定方向参数,确定系统内控制变量,得到区间转换范围,在控制器传递函数的基础上,获取位置偏差量化因子。最后根据模糊运算规则,设计转向角度控制算法,得到控制结果。实验结果显示,在双移线轨迹和蛇形轨迹下,该转向角度控制方法均可得到高精度的控制结果。
In the process of storage and handling,the turning angle of AGV system often has errors.In order to obtain more accurate turning results,the control method of AGV turning angle for storage and handling is designed.Firstly,the kinematic model of the storage and handling AGV is established,and then the steering angle controller of the storage and handling AGV is designed.The input and output variables,control variables and the improvement rate of the variables are determined when changing the direction.The direction parameters are set,the control variables in the system are determined,and the range of the interval conversion is ob-tained.On the basis of the transfer function of the controller,the quantitative factor of the position deviation is obtained.Finally,according to the fuzzy operation rules,the control algorithm of steering angle is designed,and the control results are obtained.The experimental results show that the steering angle control method can obtain high precision control results under the double line shifting trajectory and snake-like trajectory.
作者
周滟
ZHOU Yan(Sichuan Vocational College of Information,Guangyuan 628040 China)
出处
《自动化技术与应用》
2025年第2期26-29,共4页
Techniques of Automation and Applications
基金
2022年学校青年基金科研课题(2022C33)
中国通信学会项目(2021BZTX01)。
