The Design And Realization Of Magnetic Guided Omnidirectional AGV Based On Fuzzy PID Compound Control

Automated Guided Vehicle(AGV),as a new kind of material transportation equipment,has been progressively applied in various fields such as daily living and industry.At present increasingly the AGVs are needed to operate in the narrow and crowded environments,so that the research on omni-directional mobile AGV with mecanum wheel takes more attention.Under the current conditions,the magnetic guidance control technology of omni-directional mobile AGV is the most mature,but when the working environment of the omni-directional mobile AGV under the magnetic guidance isn't ideal,the guidance of AGV will be largely off rack.While the magnetic sensor gets off the route,this results in tracking control failure and being off the AGV route.Because of the above reason,in this thesis the fuzzy PID compound control method is proposed to improve the guidance performance and adaptability of AGV.This thesis begins with introducing the structure of mecanum wheel,then follows with summarizing the motion characteristics of mecanum wheel,analysing the motion principle of omni-directional AGV,establishing the kinematics model and dynamics model of omni-directional AGV,thus laying the foundation for motion control of omni-directional AGV.In the magnetic guidance motion control of AGV,since the traditional PID control method cannot meet the requirements in guidance performance and adaptability of omni-directional AGV,therefore this thesis proposes a fuzzy logic control based on the PID control,namely the fuzzy PID compound control method,by designing the fuzzy PID linear compound controller and the fuzzy self-tuning PID controller through the observation and experience of omni-directional mobile AGV.Using the tool of MATLAB/Simulink,the simulation of the above fuzzy control algorithm and the traditional PID control algorithm was made,and comparision of the simulation result was also conduced.AGV control system is the basic technique inmagnetic guidance control,considering the actual function requirements of omni-directional mobile AGV,an overall scheme of AGV control system is proposed,including design of the hardware and software of the control system,realization of the controller area network(CAN)protocol of the control system and the host computer to control the AGV.To verify the effectiveness of the fuzzy PID compound control method,a testing platform of omni-directional mobile AGV based on Mecanum wheel is built to do related experiments.The experimental results verify the correctness and validity of the fuzzy PID compound control method applied to omni-directional AGV under magnetic guidance.