Research On Motion Control Of Laser Guided AGV With Single Steering Wheel

The AGV is an unmanned,automatic guided vehicle that is responsible for the transfer of materials from plant to plant.With the proposal of "China Intelligent Manufacturing 2025",automation,intelligence and integration have become the mainstream direction of the development of various industries.Therefore,the intelligent logistics industry ushered in a great development,AGV as an important transport tool in the logistics industry,has a very large research value.This topic in AGV practical engineering project as the background,walking towards control of vehicle control system,the fork lift control and safety control parts selection,electrical design and debugging of the hardware,through the debugging results can be seen that the speed of AGV follow and Angle following performance is good,the elevator part of the implementation in the automatic mode the rise and fall of smooth,safety part compared with the traditional way of using the PLC control all safety switches and sensors,on the basis of ensure the safety of AGV used as far as possible,improve the efficiency of AGV.On the basis of the use of AGV,the motion model and path correction model of AGV are analyzed,and the error equation is deduced.The path deviation of AGV is mainly the normal position deviation and Angle deviation.The deviation of normal position and Angle can be corrected by adjusting the Angle of the steering wheel.Therefore,a fuzzy PID control system with the deviation of the Angle and the deviation of the normal distance as the input Angle of the steering wheel as the output is established.On the basis of the analysis of the basic structure of fuzzy PID control system,the deviation of Angle and the deviation of normal distance are weighted to get the variable as the input variable,and the variation rate of the deviation of Angle and the deviation of normal distance are weighted to get the variable as another input variable.According to the actual experience,the theory domain and membership function of the input variable and the variation of PID parameter are determined,the quantization factor and the proportion factor are determined,and the corresponding fuzzy control rules are established to adjust the variation of PID parameter in real time,and then the PID parameter is adjusted in real time to control the steering Angle of the steering wheel.Based on the design of fuzzy PID control system,the fuzzy PID control mode and the traditional PID control mode are simulated by MATLAB software.Through the comparison of the output response diagram,it can be seen that the fuzzy PID control mode has faster response speed,smaller overshooting and better steady-state performance than the traditional PID control mode.Based on the electrical design and debugging of AGV,the program of path following is adjusted by using on-board control software,and the experiment is carried out on the real vehicle.Through the experiment,it is found that the path following effect of using fuzzy PID control mode is better than that of using traditional PID control mode.