Magnetically Guided AGV Path Tracking Control System Design

The application of Automated Guided Vehicle(AGV)is the key to realize intelligent manufacturing and intelligent transportation,which is of great significance to the intelligent and automatic development of modern industry.At present,AGV guidance methods mainly include magnetic guidance,inertial guidance,laser guidance,visual guidance,etc.Magnetic strip guidance is widely used in practical production because of its advantages of high laying flexibility,low cost and strong environmental adaptability.However,the magnetic stripe guided AGV will interfere with its operation due to uncertain factors in the environment,and the nonlinear complex system of AGV itself leads to problems such as slow response speed,unstable operation and deviation from the target path in the transportation process,which reduces the production and transportation efficiency.In order to solve the above problems,this dissertation designs a path tracking control system based on the improved fuzzy PID algorithm.The main research contents are as follows:Firstly,the overall structure of AGV is designed and introduced.The functions and technical indexes of AGV are explained,and then the overall structure,guiding mode and driving control mode of AGV are designed.The gear train structure of front-wheel steering and rear-wheel differential drive AGV is determined,and the relationship between front-wheel steering angle,rear-wheel linear speed and AGV body posture is deduced,and the kinematics equation of AGV is established.A path tracking control method based on improved fuzzy PID algorithm is designed.Fuzzy control is added to traditional PID control to realize dynamic adjustment of PID parameters.Based on fuzzy PID control algorithm,a rotation angle fuzzy controller and a rotation speed fuzzy controller are designed to improve the control accuracy of the front wheel steering gear rotation angle and the rear wheel motor rotation speed.The AGV path tracking control system based on fuzzy PID control and PID control is built in MATLAB,and the running speed of AGV is set at low speed,high speed and variable speed,and the simulation results show that the path deviation of AGV under fuzzy PID control is within 5 mm,which effectively improves the path tracking accuracy of AGV.Set up AGV hardware control system and test its overall performance.Determine the overall scheme of AGV control system,select the hardware such as obstacle avoidance sensor and RFID reader,and build the AGV hardware platform.Then,an experimental site is set up to test the prototype,including AGV's ability of path tracking,obstacle avoidance and station identification.The experimental results show that the fuzzy PID control method designed in this paper effectively improves the path tracking accuracy of magnetically guided AGV,and all functions of AGV reach the expected technical indexes.