Study On The Control Strategy Of AGV Vehicle Tracking Trajectory

With the rapid development of society and the rapid progress of science and technology, enterprises are becoming more and more aware of the influence of industrial automation and intelligence on the overall efficiency of enterprises. The AGV car plays an important role in the automatic production line. Compared with the AGV trolley, the RGV trolley has the important practical significance, which is more convenient to take up the space, less energy and less noise, and has important practical significance. In this paper, fuzzy control technology is used to adjust the unstable state of the system such as position deviation and angle deviation in the track, so as to improve the robustness of the system.First of all, this paper introduces the research background and current situation, and points out the important theoretical and practical significance of the subject.Secondly, this paper introduces the key technologies of the AGV car, including the AGV car navigation technology, the system structure of AGV car.Thirdly, the mechanical structure of the AGV car is introduced, and the whole model of the car is prepared. Then it analyzes the modeling conditions of the car, and the factors that may affect the overall system of the car. At last, the whole dynamic model of AGV vehicle system is obtained, which lays a foundation for the following simulation research of the path tracking control of the vehicle.Then, this paper discusses the control strategy of AGV trajectory tracking, and analyzes and studies the common control strategies. The most commonly used PID control algorithm is introduced. The fuzzy control theory and control algorithm are analyzed. This paper lays the foundation for the simulation of AGV path tracking controller based on fuzzy theory.Then, the fuzzy controller simulation model is built by using Simulink module in Matlab software. Based on the initial angle error and distance error of a given car, the simulation of AGV vehicle is carried out. Through the analysis, we can see that the fuzzy controller has a good error elimination of the AGV car,and adjust the parameters can get more ideal effect chart. At the same time, this paper simulated the AGV car under the control of the conventional PID controller. According to the analysis, the control effect of PID controller is not equal to the stability and the fast of the fuzzy controller under the same initial error and the same kinematic model.Secondly, this paper introduces an example of the AGV car track tracking. Including the mechanical structure design of the automatic navigation vehicle, the realization of the control module drive module, and the analysis of the power supply unit; and use of obstacle avoidance and navigation sensors. The selection and application of AGV car manufacturing process are described in detail. At last, the actual operation of the AGV system is introduced, and the frame diagram of the control system is given, the path of the car is analyzed, and the interface of the wireless communication is presented. AGV the actual operation of the car is good, can be a very good track.Finally, the work is summarized, and the further research content of this paper is prospected.