Design Of Automatic Guided Vehicle System Controller And Research Of Scheduling Algorithm

With the development of production and increased automation, flexible manufacture systems (FMS), factory automation and other advanced production methods are progressing gradually. Automatic guided vehicle (AGV) is playing an increasingly important role. The research of AGV involve a variety of technical fields, is a typical mechatronic multi-technology integrated system. AGV navigation control technology is a key technology research among these technologies. So, how to design a control system small navigation error, fast dynamic response, and adapting to a variety of complex environment is essential.The research status in and abroad are introduced in this dissertation. The main research work in the dissertation is as follow:Firstly, AGV kinematics model and state-space model are funded based on AGV's structure features and relative motion relations with path. Variety of AGV's movement is also analyzed.Subsequently, according to fuzzy control theory and AGV navigation features, a dual-input single-output AGV autonomous navigation fuzzy controller is designed, with lateral deviation and azimuth deviation as the input of the controller; at the same time, an optimal feedback loop AGV autonomous navigation controller is designed according to linear quadratic optimal control theory. The performance of the two controllers simulation results in MATLAB environment have shown that the control achieved good results. The two controllers have advantages and disadvantages, so a fuzzy-optimal dual-mode controller is designed through the method of threshold switching. View from the simulation curves, the two controllers are of effective combination.Ultimately, the most common scheduling algorithms such as the optimization algorithm, the traditional heuristic algorithms and modern heuristic algorithms are presented in detail and compared. Combining the basic principles of genetic algorithms, characteristics and elements, the genetic algorithm for solving Automatic Guided Vehicle System (AGVS) optimal path scheduling is proposed. The mathematical expression of the optimal path problem sets the shortest walking path as the scheduling objective function. The implementation steps of optimal path problem with genetic algorithm are also discussed in detail.The analysis of simulation results in this dissertation show that the designed navigation controller is feasible in theory, and has high accuracy. The application of genetic algorithm in solving the optimal path scheduling problem is realizable, and that is reliability.