Design Of AGV Control System Based On Fractional Order PID Controller

Automated Guided Vehicle(AGV)is a kind of material handling and conveying equipment that can meet the functional requirements of flexibility,agility,greening and informatization,which can greatly improve the level of workshop logistics automation.It is an important part of industrial automation and logistics automation system and has a application prospects.In oder to upgrade the existing manually operated electric forklift to unmanned forklift,this paper designs an AGV control system based on Fractional Order ProportionalIntegrating-Differentiation(FOPID)controller.The control system is composed of Beckhoff controller,laser navigator sensor and wireless terminal.As the AGV core of Beckhoff controller CX5130,as the communicate medium of TCP/IP protocol,laser navigator sensor is used to realize the positioning of AGV and wireless control of AGV is realized by host system through the wireless terminal.Beckhoff human-machine interface is convenient for operation and monitoring of AGV.The fractional order PID controller is designed on the basis of integer order PID to solve the problems of motor steering accuracy,response speed and path tracking error.The fractional oder PID can improve the response speed,stability and steering accuracy of steering motor.The fractional order PID can achieve higher tracking accuracy on linear path trajectory.The fractional order PID control AGV arc turn closer to the ideal trajectory.The output data is processed of laser navigation sensor by Kalman filter algorithm in Beckhoff controller.It improves the stationarity of pose data and the stability of AGV operation in AGV static and driving state.The function of the odometer is realized by the speed measuring encoder through the dead reckoning.The tracking accuracy of AGV is improved by data fusion of laser navigation sensor.A fuzzy controller is designed for safe obstacle avoidance of AGV forklift.The observer of fuzzy control rule and the interface of 3D Surface Viewer are output.The effectiveness of the secure of obstacle avoidance fuzzy controller is verified by experiment.In addition,a path planning algorithm for AGV forklift truck is proposed basis on A* algorithm.