| In recent years,with the rapid development of computer technology,Internet technology,and industrial automation technology and so on,the stabilized platform has attracted widespread attention in the field of industrial AGV.Industrial AGV stabilized platform actually is a multi-degree of freedom stable platform,which can effectively avoid the angular motion of carrier.When the carrier is in a dynamic state,it is able to establish a stable datum,ensuring the stability of working axis of the manipulator arm on the platform,so that the shift of the working axis is prevented in the chattering caused by the moving industrial AGV and the accurate position of the mechanical arm can be achieved.Hence,Industrial AGV stabilized platform has been widely used in the field of industrial automation and national defense and become a hot spot of research at home and abroad.This paper aims at studying three-degree-of-freedom industrial AGV stabilized platform,analyzing the various stability control strategies of loading platform.The research contents are as follows.Firstly,the structure of industrial AGV stabilized platform is analyzed in detail.According to the working principle of three-degree-of-freedom industrial AGV stabilized platform,the motion coordinate decomposition is carried out On this basis,the mathematical model of the three-degree-of-freedom industrial AGV stabilized platform is established,including DC torque motor mathematical model,gyroscope mathematical model,platform mathematical model,PWM power amplifier mathematical modelSecondly,based on the establishment of the mathematical model of the three-degree-of-freedom industrial AGV stabilized platform,the classical PID control algorithm is analyzed,the simulating experiment for the three-degree-of-freedom industrial AGV stabilized platform is carried out,and the advantages and disad,vantages of classical PID control algorithm in industrial AGV stabilized platform control is summarized.Countering classic PID's simple structure,the problem that cannot meeting the accuracy requirements,propose the method of fuzzy control to optimize the control system of the three-degree-of freedom industrial AGV stabilized platform.According to the working characteristics of the system,select the fuzzy control model of the double input and single output,design 49 fuzzy rules to real-time control the three-degree-of-freedom industrial AGV stabilized platform,and test the simulation models which are built by using MATLAB/SIMULINK.At last,compare the test result with the traditional PID control algorithm.Finally,by comparing the advantages and disadvantages of traditional PID and fuzzy control,design a fuzzy-PID hybrid control by combining the two controls.So that the three-degree-of-freedom industrial AGV stabilized platform has both advantages of strong adaptability of fuzzy control and high speed and high precision of PID control The fuzzy-PID hybrid control simulation model is established by using MATLAB/SIMULINK.Then,its result shows that the steady state accuracy of control has been greatly improved,the system has no overshoot,short adjusting time and can adjust the parameters according to the real-time change of the system,has good control effect on the three-degree-of-freedom industrial AGV stabilized platform system. |
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