System Identification And Dynamic Characteristic Analysis Of Driving System For AGV

With the deeply application of Automated Guided Vehicle (AGV), the capability and function of AGV should be improved. Most of the controlling system should be designed to face a specific controlled object, and AVG driving system is the main controlled object of the AGV controller. So, in order to improve the controlled capability of AGV, the mathematical model and dynamic characteristic of AGV driving system should be first to be researched.In this paper, the basic principles, content and procedures of system identification are firstly introduceded in detail, which lays the theoretical foundation for researching AGV driving system identification. Then, the static characteristic and the dynamic characteristic of the AGV driving system are analysed based on the self-developed AGV vision-based navigation. With the M sequence as inputing signal of system identification, the Least Squares Method (LSM) is applied to identify the AGV driving system, and then its mathematical model is established and simulated, which is the basis of the identification model optimization and the capability improvement.With the study of Genetic Algorithms (GA), the GA is improved and an Improved Adaptive Genetic Algorithms (IAGA) is put forward. Aiming to the identification problem of AGV driving system, the strategy of multi-objective optimization is applied in this paper. With the amplitude approximation and the phase approximation as two sub-objects of the strategy of multi-objective optimization, the strategy of multi-objective optimization and IAGA are combined into the multi-objective IAGA. According to the identification model of LSM, both of the single-objective GA and the multi-objective IAGA are applied to identify the AGV driving system. After simulation and comparison of the identification models, the multi-objective IAGA is proved to be superior. In the end, a relatively ideal mathematical model of AGV driving system is established. Based on the mathematical model the dynamic characteristic analysis for AGV driving system is completed, which lays the technological foundation for enhancing the driving capability of AGV.Finally, the whole work is summarized and some suggestions are proposed on what needed in further research.