發(fā)布時(shí)間：2018-06-13 02:40

  本文選題：PID控制 + 模糊控制　； 參考：《安徽工程大學(xué)》2017年碩士論文

【摘要】：近年來,伴隨著計(jì)算機(jī)技術(shù)、互聯(lián)網(wǎng)技術(shù)、工業(yè)自動(dòng)化技術(shù)等快速發(fā)展和進(jìn)步,載物云臺(tái)在工業(yè)AGV研究領(lǐng)域受到廣泛關(guān)注。多自由度載物云臺(tái)在受到擾動(dòng)時(shí)會(huì)發(fā)生角運(yùn)動(dòng)改變作業(yè)設(shè)備工作基準(zhǔn),目前針對(duì)云臺(tái)的穩(wěn)定性控制效果一般,因而如何更加有效地實(shí)現(xiàn)工業(yè)AGV載物云臺(tái)穩(wěn)定性控制,有效地隔離載體角運(yùn)動(dòng)以保證安裝在平臺(tái)上的設(shè)備作業(yè)坐標(biāo)軸穩(wěn)定,實(shí)現(xiàn)作業(yè)設(shè)備的準(zhǔn)確定位成為一個(gè)新的研究課題。本文以三自由度工業(yè)AGV載物云臺(tái)為研究對(duì)象,對(duì)載物云臺(tái)各種穩(wěn)定性控制策略進(jìn)行了分析對(duì)比研究,開展了下面幾項(xiàng)研究工作:論文首先分析了工業(yè)AGV載物云臺(tái)的結(jié)構(gòu)及其工作原理,并以三自由度工業(yè)AGV載物云臺(tái)為例分析和闡述了坐標(biāo)變換工作原理,進(jìn)一步根據(jù)控制理論詳細(xì)地建立了三自由度工業(yè)AGV載物云臺(tái)的主要構(gòu)成部件數(shù)學(xué)模型以及總體數(shù)學(xué)模型。其次,通過對(duì)三自由度工業(yè)AGV載物云臺(tái)數(shù)學(xué)模型和常規(guī)PID控制算法的分析與研究,提出運(yùn)用PID控制技術(shù)來實(shí)現(xiàn)對(duì)三自由度工業(yè)AGV載物云臺(tái)的穩(wěn)定性控制,由此設(shè)計(jì)并進(jìn)行了仿真試驗(yàn)。然后針對(duì)常規(guī)PID控制參數(shù)固定不能適應(yīng)隨機(jī)變化的情況,轉(zhuǎn)換思路提出運(yùn)用模糊控制方法實(shí)現(xiàn)三自由度工業(yè)AGV載物云臺(tái)的穩(wěn)定性控制。根據(jù)系統(tǒng)工作特性選取了雙輸入單輸出的模糊控制模型,設(shè)計(jì)49條模糊規(guī)則來對(duì)三自由度工業(yè)AGV載物云臺(tái)進(jìn)行實(shí)時(shí)控制,建立三自由度工業(yè)AGV載物云臺(tái)模糊控制仿真模型進(jìn)行試驗(yàn)。最后比對(duì)常規(guī)PID控制方法和模糊控制方法,設(shè)計(jì)一種融合兩者控制優(yōu)點(diǎn)的新方法-模糊PID混合控制方法來對(duì)三自由度工業(yè)AGV載物云臺(tái)進(jìn)行穩(wěn)定性控制。建立三自由度工業(yè)AGV載物云臺(tái)模糊PID混合控制數(shù)學(xué)模型并進(jìn)行仿真,結(jié)果表明,該控制方法不但能夠大大縮短系統(tǒng)調(diào)節(jié)時(shí)間和提高系統(tǒng)穩(wěn)態(tài)精度,還能夠?qū)崿F(xiàn)參數(shù)自整定以適應(yīng)不同環(huán)境,具有很好的控制性能。
[Abstract]:In recent years, with the rapid development and progress of computer technology, Internet technology, industrial automation technology and so on, the carrier cloud head has received extensive attention in the field of industrial AGV research. When the multi-degree-of-freedom (MDOF) carrier cloud head is disturbed, the angular motion will change the working standard of the operating equipment. At present, the stability control effect of the cloud head is general, so how to realize the stability control of the industrial AGV carrier cloud head more effectively. It is a new research topic to isolate the angular movement of the carrier effectively to ensure the stability of the operating coordinate axis of the equipment installed on the platform and to realize the accurate positioning of the operating equipment. In this paper, three degrees of freedom (DOF) industrial AGV platform is used as the research object, and various stability control strategies of the platform are analyzed and compared. The following research works are carried out: firstly, the structure and working principle of industrial AGV carrier cloud head are analyzed, and the working principle of coordinate transformation is analyzed and expounded by taking the three-freedom industrial AGV carrier cloud head as an example. According to the control theory, the mathematical model of the main components and the overall mathematical model of the three-degree-of-freedom industrial AGV platform are established in detail. Secondly, through the analysis and research on the mathematical model of the three-degree-of-freedom industrial AGV platform and the conventional pid control algorithm, a pid control technique is proposed to realize the stability control of the three-degree-of-freedom industrial AGV platform. The simulation experiment is designed and carried out. Then, in view of the fact that the fixed parameters of conventional pid control can not adapt to the random change, the fuzzy control method is proposed to realize the stability control of the cloud head of industrial AGV with three degrees of freedom. According to the working characteristics of the system, the fuzzy control model of double input and single output is selected, and 49 fuzzy rules are designed to control the three-degree-of-freedom industrial AGV cloud head in real time. A fuzzy control simulation model of three degrees of freedom for industrial AGV is established. Finally, compared with the conventional pid control method and the fuzzy control method, a new control method, fuzzy-PID hybrid control method, is designed to control the stability of the three-degree-of-freedom industrial AGV cloud head. A fuzzy pid hybrid control model of three degrees of freedom for industrial AGV is established and simulated. The results show that the control method can not only shorten the adjusting time of the system but also improve the steady-state precision of the system. It can also realize parameter self-tuning to adapt to different environments and has good control performance.
【學(xué)位授予單位】：安徽工程大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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本文編號(hào)：2012305