光导AGV智能循迹测控系统的建模与仿真

Modeling and Simulation of Intelligent Tracking Control System for a Photoconductive AGV

中文关键词:  自动导向车  建模  状态反馈控制  模糊控制  复合控制  仿真

英文关键词:AGV  modeling  state feedback control  fuzzy control  compound control  simulation

中文摘要:

      针对光导式差速驱动型自动导引车的循迹控制系统，构建了一个简化的系统数学模型，并在此基础上进行了控制器的设计，然后通过Matlab/Simulink对系统进行了仿真分析。通过仿真比较了状态反馈控制和模糊控制的控制性能，提出了将这两种控制方式结合的复合控制方法，并得到了较好的仿真结果。该仿真系统模拟的参数接近车体的实际数据,对于实际小车的控制具有一定的参考价值，为今后AGV控制系统的设计提供了依据。

英文摘要:

      A simulation system for the control of photoconductive and differential steering AGV is developed based on a simplified AGV kinematics model and design of controllers,and then analyzed by Matlab/Simulink IDE.A compound control is proposed after comparing the control performance of state feedback control with fuzzy control system by the simulation,and better simulation result is obtained based on it.The simulation parameters of system are very closed to the practical data,so this system is useful for actual AGV control and contributes to future AGV design and improvement.