Motion control method based on AGV control system

A control system and motion control technology, applied in two-dimensional position/channel control, etc., can solve problems such as PID control is difficult to achieve a good control effect, network delay sensor error, difficult to build a model, etc., to improve tracking accuracy problem, low production cost, good setting effect

Pending Publication Date: 2022-07-29
SHANDONG UNIV OF SCI & TECH +1
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Problems solved by technology

And because of its complex working environment, network delay sensor errors, etc., it is difficult to establish an accurate model
Therefore, traditional PID control is difficult to achieve a good control effect

Method used

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  • Motion control method based on AGV control system
  • Motion control method based on AGV control system
  • Motion control method based on AGV control system

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Embodiment Construction

[0042] The present invention proposes a motion control method based on an AGV control system. In order to make the advantages and technical solutions of the present invention clearer and clearer, the present invention is described in detail below with reference to specific embodiments.

[0043] A motion control method based on an AGV control system, the AGV control system includes a push rod motor, a digital potentiometer and a position sensor, such as figure 1 shown, including the following steps:

[0044] S1. The AGV control system calculates the difference between the position coordinates of the given trajectory and the actual coordinates of the AGV measured by the current position sensor;

[0045] S2. Decouple the difference in S1 and convert it into an angle and a distance;

[0046] S3, the angle controller and the distance controller respectively control the steering and vehicle speed of the AGV by controlling the push rod motor and the digital potentiometer according t...

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Abstract

The invention discloses a motion control method based on an AGV control system. The method comprises the following steps that the AGV control system calculates a difference value between a position coordinate of a given track and an AGV actual coordinate measured by a current position sensor; decoupling the difference value by adopting a self-adaptive decoupling PID (Proportion Integration Differentiation) controller based on beetle antennae search optimization, and converting the difference value into an angle and a distance; the angle controller and the distance controller control the steering and the speed of the AGV by controlling the push rod motor and the digital potentiometer according to the decoupling information. The self-adaptive decoupling PID controller based on the beetle antennae search optimization, provided by the invention, is good in setting effect, high in convergence speed and low in production cost, and can be produced in industry; according to the control method based on the PID controller, the problem of AGV trajectory tracking precision can be effectively solved.

Description

technical field [0001] The invention belongs to the field of trajectory tracking of unmanned vehicles, in particular to a motion control method based on an AGV control system. Background technique [0002] Automated Guided Vehicles (AGVs) are also known as automated guided vehicles. It can walk according to the planned route and adjust according to the surrounding environment. AGV has been widely used in factories and logistics, which improves the economic benefits of enterprises and saves human resources, and has become an important part of industrial automation. [0003] The traditional PID controller consists of three parts: proportional, integral and differential. Therefore, the PID controller has a simple structure, is easy to debug and is easy to implement. Traditional PID is widely used in industry. The traditional PID has high requirements on the model, the more accurate the model, the higher the control precision. AGVs have extremely high requirements for speed a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 张成鹏张强姜向远张焕水崔鹏彭凯王宏霞吕世超马泽国胡鹏
Owner SHANDONG UNIV OF SCI & TECH
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