| Modern science and technology exert a great impact on the development model of enterprises.Traditional manufacturing industry is facing the path of upgrading and transformation currently,as well as the production mode of enterprises is gradually becoming intelligent and diversification.As an important carrier of intelligent logistics,AGV can effectively reduce the labor costs of factories and warehouses.With the comprehensive advancement of "smart manufacturing",the increasingly intense demand for automated logistics systems in traditional heavy industry has made multi-wheel drive AGV a hot spot in this field.According to relevant literatures,however,the stability of the four-wheel drive AGV is not ideal to meet some of the operational requirements at this stage.Therefore,a synergistic motion control+fuzzy rectification technique was proposed in this study,which was applied to four-wheel drive AGV to improve its operational stability.Based on the related design parameters of four-wheel drive AGV,the selection of the drive motor was completed.By expounding the structure of the train wheel,the corresponding kinematics model was established to obtain the internal relationship between the pose,the motion form and the speed of each drive wheel,which provided a direction for the stability research.Through the construction of block diagram,the electronic control technology was described in details,which laid the foundation for the further theoretical and practical analysis of the AGV operation stability.Oriented at the four-wheel drive AGV motion control technology,a cooperative motion control technology was introduced by analyzing its motion law and combining with the kinematics model.The ADAMS software was used to simulate the motion of the AGV.The results showed that the simulation curve was basically agreed with the preset path,which verified the rationality of the method.The AGV correction guidance was confirmed to be the precondition for the application of this method by the simulation process,which provided an explanation for the necessity of the subsequent research on the correction method.The fuzzy correction was applied to realize the path correction of AGV based on the correcting motion formula.The joint simulation model of the control system was founded with ADAMS and MATLAB.The results showed that all deviation/deviation angles could be controlled close to 0 simultaneously in a short time,indicating the rationality of mentioned method.In order to verify the feasibility of the above theory in practical application,the experimental prototype was built and its control system was designed according to the relevant national standards and norms.Comparison method was employed to test the stability of this prototype.The experimental results showed that,the cooperative motion control+fuzzy rectification technology could effectively improve the operational stability of the four-wheel drive AGV.Additionally,suggestions was provided for the further development.The cooperative motion control+fuzzy correction method was presented in order to solve the shortcomings of the four-wheel drive AGV in this study.The proposed control method was simulated by MATLAB and ADAMS software.The experimental system was established to explore the feasibility of the prototype in the real working condition.An engineering practice problem was solved by this research,which provided a preference for this type of engineering application. |
