發(fā)布時(shí)間：2018-06-29 06:27

  本文選題：AGV + 運(yùn)動(dòng)模型　； 參考：《江西理工大學(xué)》2015年碩士論文

【摘要】：自動(dòng)導(dǎo)引小車(Automatic Guided Vehicle)指的是一種在無人操作情況下,承載一定貨物自主、準(zhǔn)確的到達(dá)目的地的搬運(yùn)車,是輪式機(jī)器人的一種。這樣一智能自動(dòng)化的實(shí)現(xiàn)集多項(xiàng)技術(shù)于一體,綜合了當(dāng)今前沿科技。AGV作為現(xiàn)代化物流的重要設(shè)備能提高企業(yè)生產(chǎn)水平,不僅減少了勞動(dòng)力資源浪費(fèi)還減少成本,獲得的回報(bào)也更高更快,為企業(yè)爭取了利益的最大化。在自動(dòng)導(dǎo)引小車的研究過程中,我們發(fā)現(xiàn)作為核心技術(shù)的路徑跟蹤技術(shù)的優(yōu)劣程度直接影響著AGV性能的好壞。本文分析導(dǎo)引小車的結(jié)構(gòu)特點(diǎn),結(jié)合研究內(nèi)容選定適宜的三輪式導(dǎo)引小車。根據(jù)該類型小車的運(yùn)動(dòng)特性和運(yùn)動(dòng)關(guān)系建立運(yùn)動(dòng)模型。分析模型得到距離偏差和角度偏差與驅(qū)動(dòng)輪速度關(guān)系。再聯(lián)系A(chǔ)GV驅(qū)動(dòng)系統(tǒng)的動(dòng)態(tài)和靜態(tài)特性,利用系統(tǒng)辨識(shí)法得到系統(tǒng)的傳遞函數(shù),從而建立系統(tǒng)的狀態(tài)空間模型。按照模糊控制器的設(shè)計(jì)方法,選取以角度偏差和距離偏差線性組合后的綜合偏差最為輸入之一,將該綜合偏差的變化率作為另一輸入,同時(shí)以兩驅(qū)動(dòng)輪電壓差作為輸出變量。但是發(fā)現(xiàn)在小偏差情況下,模糊控制器的表現(xiàn)不如常規(guī)控制器。針對(duì)這一情況,提出了采用閾值切換法優(yōu)化控制器,實(shí)現(xiàn)模糊控制和常規(guī)控制的優(yōu)勢(shì)互補(bǔ)。仿真結(jié)果表明:與傳統(tǒng)控制器的控制效果相比模糊控制器有較大優(yōu)勢(shì),特別是在較大偏差情況下模糊控制器能快速糾正路徑。經(jīng)過優(yōu)化后的控制器能夠使AGV在各種情況下有較強(qiáng)的適應(yīng)性,同時(shí)改善了輸出振蕩和路徑跟蹤出現(xiàn)的超調(diào)現(xiàn)象。
[Abstract]:Automatic guided vehicle (AV) is a kind of wheeled robot, which carries certain goods independently and reaches its destination accurately under the condition of nobody operating. The realization of intelligent automation integrates many technologies, synthesizes the advanced technology. AGV, as an important equipment of modern logistics, can improve the production level of enterprises, not only reduce the waste of labor resources, but also reduce costs. The return is also higher and faster, maximizing profits for the enterprise. In the research process of automatic guided vehicle, we find that the performance of AGV is directly affected by the advantages and disadvantages of the path tracking technology as the core technology. In this paper, the structural characteristics of guided vehicle are analyzed, and the suitable three-wheeled guided vehicle is selected according to the research contents. A motion model is established according to the motion characteristics and relationship of the car. The relationship between the distance deviation and the angle deviation and the speed of the drive wheel is obtained by analyzing the model. Considering the dynamic and static characteristics of AGV driving system, the transfer function of the system is obtained by using the system identification method, and the state space model of the system is established. According to the design method of fuzzy controller, one of the most input comprehensive deviations is selected after the linear combination of angle deviation and distance deviation. The rate of variation of the synthetic deviation is taken as another input, and the voltage difference between two driving wheels is taken as the output variable. However, it is found that the performance of fuzzy controller is inferior to that of conventional controller in the case of small deviation. In view of this situation, a threshold switching method is proposed to optimize the controller to realize the complementary advantages of fuzzy control and conventional control. The simulation results show that the fuzzy controller has more advantages than the traditional controller, especially the fuzzy controller can quickly correct the path in the case of large deviation. The optimized controller can improve the adaptability of AGV under various conditions and improve the overshoot phenomenon of output oscillation and path tracking.
【學(xué)位授予單位】：江西理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TP242

【共引文獻(xiàn)】

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本文編號(hào)：2081212