Design And Realization Of Single Steering Wheel Laser AGV

AGV is the abbreviation for "Automatic Guided Vehicle".It is marked by a high degree of automation,security and flexibility,which is widely used in the material handling and supply of automotive manufacturing,machining and other automated transportation and warehouse system.With the improvement of the level of industrial automation,as one kind of the mobile robots,AGV has gradually become an important part of internal logistics system.Among them,the Guidance Control is one of the key technologies of the research on AGV.Thus,in this paper,based on a single steering wheel laser navigation AGV in my laboratory as the prototype for this study,I researched the guidance control algorithms of AGV,designed a controller with fast dynamic response and small tracking error,and can adapt to a variety of complex environments with good robustness,after repeated experiments,verified the effectiveness of the designed control system.Firstly,in this paper I analyze the relationship between Chassis Structure and motion characteristics of AGV and build a mathematical model of the single steering wheel laser AGV,on this basis,through the motor physics formulas,the transfer function of drive system,thereby establish the state space expression of controlled system.Then I analyze the system's dynamic and static characteristics,the results showed that the unit step response is oscillation and the system is marginally stable state and is also fully Controllable and Observables.It can accomplish the pole placement using state feedback.Secondly,I design the state feedback controller through linear quadratic optimal control system obtain the optimal state feedback parameters.Simulation results show that the system unit step response converges.It proves the controlled system via state feedback controller can achieve the basic requirements of the process,but because conditions are too ideal model for the actual operation of AGV,corrective effect is not ideal.Then I design a fuzzy controller by using the Fuzzy Control Theory,acting on laser navigation AGV,through navigator dynamic tracking,output AGV plane coordinates,azimuth body,calculation the path deviation.Then compare with the system without fuzzy controller.Experiments show that the fuzzy controller is designed to achieve the basic requirements of the process,but if the situation is far from the reference path,correction rate seems still less than ideal.In the previous analysis,in paper design PID controller and Fuzzy controller of laser-guided AGV,and further combined with the two advantages,series PD controller and fuzzy controller in the control circuit,calculate the path deviation through plane coordinates and azimuth body,track steering wheel angle through angle encoder,then design the fuzzy PID controller.Finally,by comparing a large number of simulation experiments,the design of laser-guided AGV Fuzzy-PID controller is adapt to the situation of large deviation from the reference path.Its rectification is faster,and with better system stability and fast dynamic response,and the tracking error is small,together with better robust and be able to adapt to a variety of complex environments.