| Based on the primary structure of AGV, applying the theory of kinematics and dynamics, the dynamics model of AGV body is given. According to the load of AGV, choosing the style of the motor and battery. In the light of the dynamics model and theory of auto-control, we select electromagnetism-guide and get total controlling-model of AGV tracking system. The author applies optimum control of classic controlling theory, and gets the optimum control parameter of current-loop and velocity-loop. With SIMULINK, which is a part of the world-wide used computing tool, Matlab, the graphic model is built against the severe non-linear characteristic of the guided model. The guided-system is simulated and analyzed at various work-status and the controller parameter is amended. With the simulation result, the author studies the influence of mechanical dimensions and electronic parameter on the tracking effect, which offers academic designation foundation of AGV. In the end, with the mixed control of analog and digital, the specific guided circuit is designed. |
