| 基于麦克纳姆轮的磁导航自动导引车模糊控制 |
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| 引用本文： | 张小俊,刘轩,孙立新,郭庆,杨朋伟.基于麦克纳姆轮的磁导航自动导引车模糊控制[J].科学技术与工程,2019,19(34):248-253. |
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| 作者姓名： | 张小俊 刘轩 孙立新 郭庆 杨朋伟 |
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| 作者单位： | 河北工业大学机械工程学院,天津300131;河北工业大学机械工程学院,天津300131;河北工业大学机械工程学院,天津300131;河北工业大学机械工程学院,天津300131;河北工业大学机械工程学院,天津300131 |
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| 基金项目： | 机器人学国家重点实验室基金课题(401385) |
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| 摘 要： | 由于自动导引车(AGV)的运动方向和速度取决于每个麦克纳姆轮的运动,故AGV循迹运动需要更加精准。将麦克纳姆轮应用于AGV的运动系统,使其具备在平面内三自由度的移动能力。为了克服AGV运行中偏离预定路径的问题,设计了一种基于模糊控制的循迹纠偏方法来纠正其实际行驶轨迹,并进行了仿真实验和实际检测,验证了所设计模糊控制器的有效性。
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| 关 键 词： | 自动导引车 麦克纳姆轮 磁导航 模糊控制器 纠偏 |
| 收稿时间： | 2019/5/23 0:00:00 |
| 修稿时间： | 2019/6/27 0:00:00 |
Research on AGV Fuzzy Control of Magnetic Navigation Based on Mecanum Wheel |
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| Zhang Xiaojun,Liu Xuan,GuoQing and YangPengwei.Research on AGV Fuzzy Control of Magnetic Navigation Based on Mecanum Wheel[J].Science Technology and Engineering,2019,19(34):248-253. |
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| Authors: | Zhang Xiaojun Liu Xuan GuoQing and YangPengwei |
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| Institution: | School of Mechanical Engineering Hebei University of Technology Tianjin 300131;China,School of Mechanical Engineering Hebei University of Technology Tianjin 300131;China,,School of Mechanical Engineering Hebei University of Technology Tianjin 300131;China,School of Mechanical Engineering Hebei University of Technology Tianjin 300131;China |
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| Abstract: | The Mecanum wheel is applied to the AGV"s motion system to provide three degrees of freedom in the plane. Since the direction and speed of movement of the AGV depends on the motion of each Mecanum wheel, the AGV tracking motion needs to be more precise.In order to overcome the problem of deviation from the predetermined path in AGV operation, a tracking correction method based on fuzzy control is designed to correct its actual driving trajectory. The simulation experiment and actual detection are carried out to verify the effectiveness of the designed fuzzy controller. |
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