Design Of AGV Control System Based On Fuzzy PID

In this era of rapid development of science and technology,with the world's increasingly high requirements for manufacturing,automation,intelligent manufacturing,flexible production units have become the development goals of enterprises.To achieve these goals,industrial robots,visual system,unmanned workshop these terms are gradually familiar to people.The AGV(automatic guided vehicle)is a kind of equipment that integrates automation,various sensor technologies and high-precision control system.In the era of great automation demand,the development of AGV is of great practical significance.This topic through the analysis of the structure characteristics of AGV car,decorated with diagonal double wheel drive AGV as the research object,its kinematics model is established and the system state space equation,the advantage of the characteristics of fuzzy control does not need accurate mathematics model,as well as to better control of nonlinear system,fuzzy control technology and the combination of PID control,to adjust the car produced in the process of path tracking the location of the deviation and angular deviation,to improve the work efficiency of AGV car.First of all,this paper analyzes the driving mode and the motion characteristics of AGV,the relationship between a diagonal decorate wheel drive,with two wheels AGV structure,analysis the performance of this structure,and its kinematics model is established,and calculation of its kinematics equation,the analysis of the second degree of freedom model under the front and back Angle with the centroid coordinates,the relationship between established with deviation as a variable in the process of moving equation of state,on this basis,the generation of physics formula into the motor,thus established the state space expression of the AGV system.Secondly,because the modeling conditions are too ideal,the effect of AGV in the actualoperation is not significant.Therefore introduces fuzzy control theory,fuzzy control for nonlinear systems of accurate control,and do not rely on the characteristics of the controlled object accurate mathematical model,designed a fuzzy controller,through the measurement of the system as well as the feedback data,get the AGV's current position,the AGV moving Angle deviation and position deviation as the input of the fuzzy controller,the output for AGV's on the corner of the front wheel,and determine the scope of these variables corresponding to the fuzzy set and membership function,and made the inference rules of fuzzy controller.On the basis of the previous analysis,considering that fuzzy control has blind areas and a single controller cannot meet the precise control requirements,this paper combines the advantages of the two,combines the fuzzy controller with the PID controller,and sets a virtual switch to judge when to use which control method.At last,the designed controller is simulated in MATLAB/Simulink to observe the tracking path effect,and the conclusion is drawn that the controller designed by combining PID with fuzzy control can better track the path,with faster rectifying speed and better stability.