Magnetic Navigation AGV Based On PLC Research On Correction Control Method

The proposal of the "Made in China 2025" strong country strategy has catalyzed a new round of technological and industrial changes.The concept of “smart manufacturing”was quickly put on the forefront of reform.Intelligent manufacturing required effective integration of production units,unified planning and production,unified allocation of resources,and formation of an efficient production network.Logistics is a key link in automated production networks.It directly affects whether the network can operate efficiently.The AGV(Automated guided vehicle,AGV)quickly captures the intelligent manufacturing logistics with its advantages of high efficiency,flexibility and high intelligence.The traditional AGV usually uses conventional PID control to find the system response during operation.Slow,car body jitter,large track deviation,unstable operation,etc.,the tracking effect is general.In this regard,this paper proposes a control strategy based on optimization function PID tuning and fuzzy PID control segmentation implementation,which is of great significance to the improvement of AGV operation efficiency and correction control.This topic mainly studies the problem of magnetic navigation AGV track rectification based on PLC-1200.Combined with the actual functional requirements of AGV in the factory environment,the overall hardware structure design of AGV and the selection and arrangement of main components are carried out.On this basis,the kinematics analysis of the AGV is carried out,and the general expression of the trajectory offset and the angular deviation during the AGV motion is obtained.The design and mathematical modeling of the DC motor rectification speed regulation system are completed,and the transfer function of each link in the system and the transfer function of the controlled object are established.For the controlled object,the conventional PID controller design and simulation research,the PID controller design and simulation research based on the optimization function and the fuzzy PID controller design and simulation research are carried out.The simulation results show that the PID control response speed based on the optimization function is the most.Fast,overshoot is appropriate,fuzzy PID controlresponse time is second,trajectory deviation is slightly oscillated,conventional PID control response speed is slow,and trajectory deviation fluctuates 2-3 times.Based on the above simulation research,this paper proposes a control strategy based on optimization function PID tuning and fuzzy PID control segmentation implementation,that is,PID control based on optimization function is adopted in the linear part of the magnetic strip track,and fuzzy PID control is adopted in the curve part.Using the Botu V13 programming software to design the overall control flow of the system,the I/O definition of the input and output device ports,the system main program and the corresponding sub-programs are written to complete the program debugging.In the experiment,the tracking deviation and the running speed of the AGV are taken as the variables to carry out the experiment of the conventional PID control and the segmentation control strategy.The experiment shows that the AGV can meet the tracing requirements under the control of both controllers.Derailment occurs.In contrast,the trajectory deviation of AGV under segmentation control is smaller than that of conventional PID control,and the running speed is faster,which verifies the feasibility and superiority of segmentation control.