Industrial laser guidance AGV double-closed-loop control system and control method thereof

Abstract

The invention discloses an industrial laser guidance automatic guided vehicle (AGV) double-closed-loop control system and a control method thereof. The system consists of a detection module and a control module and is characterized in that: the detection module consists of an encoder serving as a motor position sensor and a laser scanner serving as an AGV position sensor; the control module consists of a servo driver and an industrial personal computer and is a double-position closed loop control module consisting of an inner position ring and an outer position ring; the inner position ring is a motor intersection angle position ring; the outer position ring is used for reading an AGV position signal by using the laser scanner; the path tracking error of the current position of an AGV is calculated by the AGV position signal fed back from the outer position ring; and the path tracking error is used as the input quantity of the control system. By the system and the method, the independent running function of the industrial laser guidance AGV can be well realized, and the rapidity and the stability of the path tracking of the AGV can be ensured.

Description

technical field [0001] The invention belongs to the field of robot technology and automation, and in particular relates to a control system of an industrial laser-guided AGV of an automatic navigation transport vehicle operating in an automation workshop and a path tracking control method thereof. Background technique [0002] Laser-guided AGV (AGV, Automatic Guided Vehicle) is an automatic guided vehicle guided by laser. Due to its high positioning accuracy, it can adapt to complex paths in various environments and can quickly change driving paths. It is currently widely used . The control system is the core content of AGV, and the path tracking control method is the key to ensure the control accuracy of AGV. [0003] At present, the control systems of most laser-guided AGV manufacturers are imported from Sweden's NDC company, and the complete set of control systems is expensive. [0004] The experimental AGV system that has been published is a single closed-loop control ...

AI Technical Summary

Problems solved by technology

However, when the conventional fuzzy control algorithm is applied to the industrial laser-guided AGV path tracking control, the path tracking speed is slow, especially when the AGV is walking at a high speed, the delay effect and slow system response are more serious. obvious

This is because the industrial practical AGV system is complex, heavy, and inertial, so compared with the general experimental AGV, it is much more difficult to control, and it is difficult to achieve the desired accuracy.

In addition, due to the time lag of the response of the servo motor drive system, the system adjustment speed is affected, so that it cannot be adjusted to a stable state quickly.

When the speed is high, because the AGV travels faster, the delay effect will make it more difficult to accurately track the predetermined path

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