基于模糊控制的磁引导AGV系统路径校正的应用研究

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万方数据
杭州电子科技大学硕士学位论文
ABSTRACT
With the development of flexible manufacturing and automated transport systems,Automated Guided Vehicle becoming the key transport equipment. Since the development of Multi-AGV system in the late 80s of the 20th century, the research on Multi-AGV system has became more and more popular. As its outperforms in many respects. Multi-AGV system has become a glamorous research field with good prospects in scientific research. This thesis researches the path planning and correction problems in molding shops. According to the characteristics of magnetic guided AGV system, the paper analyzing the problems of the navigation module. And established a correction model using fuzzy control algorithm to improve its navigation function. The main work is described as follows: Firstly, comprehended the research background and characteristics of AGV system. Implemented a navigation correction module to improve its accuracy. Secondly, introduce some popular guiding methods of AGV system. Summarize some path tracking and planning methods and problems in the application of AGV system. Combined with the operation environmental in experimental system, described the navigation and path planning method which will used. This paper designed a fuzzy control system module to improve the navigation accuracy. The simulation result proves the feasibility. Thirdly, established a mathematical model of the path tracking and correction problem. This model can adjusted the path tracking accuracy online. The simulation data prove the better tracking and correction capabilities. In addition, introduced a controller model with fuzzy PID algorithm, illustrates the function and significance of the model. Point out the application significance of fuzzy PID control in AGV system. Fourthly, introduced a fuzzy PID controller in the motor drive module of the experimental system. Using environmental information which is collected by magnetic sensor and other sensors located in AGV vehicles to control AGV cars. The path tracking and correction ability of system is improved. Key words: Magnetic guided AGV, path planning, path correction, fuzzy control algorithm
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万方数据
杭州电子科技大学硕士学位论文
目
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摘 要.........................................................................................................................I ABSTRACT.................................................................................................................. II 目 录...................................................................................................................... III 第1章 绪 论.......................................................................................................... 1 1.1 引言.................................................................................................................. 1 1.2 AGV 系统的发展历史及现状..........................................................................1 1.3 AGV 系统中的路径规划技术..........................................................................2 1.4 模糊控制技术.................................................................................................. 3 1.5 论文主要研究内容.......................................................................................... 4 第二章 AGV 系统简介................................................................................................ 5 2.1 AGV 系统的结构组成......................................................................................5 2.2 AGV 的工作原理及应用..................................................................................5 2.2.1 AGV 系统的工作原理............................................................................ 5 2.2.2 AGV 系统的应用特点............................................................................ 6 2.2.3 AGV 系统导航模块的发展趋势............................................................ 7 2.3 AGV 的引导方式..............................................................................................7 2.3.1 固定路径导引方式..................................................................................8 2.3.2 自由路径导引方式.................................................................................8 2.4 磁导引 AGV 系统的设计................................................................................9 2.4.1 磁导航 AGV 系统的结构设计...............................................................9 2.4.2 磁导航模块设计.................................................................................10 2.4.3 磁导航 AGV 系统的运动控制.............................................................11 2.5 本章小结........................................................................................................ 12 第三章 AGV 系统路径跟踪与校正........................................................................... 13 3.1 路径规划与跟踪的含义................................................................................ 14 3.2 路径跟踪与校正的意义................................................................................ 14 3.3 校正技术的应用............................................................................................ 14 3.3.1 AGV 系统路径校正的发展趋势.......................................................... 15 3.3.2 AGV 系统路径的优化....................................................................... 17 3.4 模糊控制校正方法的应用............................................................................ 18 3.5 本章小结........................................................................................................ 19 第四章 AGV 系统的模糊控制.................................................................................. 19 4.1 模糊控制理论基础......................................................................................... 20 4.1.1 模糊控制技术的发展...........................................................................20 4.1.2 模糊控制器结构组成...........................................................................21 4.1.3 模糊推理方法.......................................................................................23 4.2 AGV 系统中模糊控制的应用........................................................................25 4.2.1 模糊调度系统的应用.........................................................................25 4.2.2 模糊控制系统的应用.........................................................................27