輕型農(nóng)用運(yùn)輸AGV的設(shè)計(jì)與分段模糊控制研究.pdf

doi 10 12052 gdutxb 200178 輕型農(nóng)用運(yùn)輸AGV的設(shè)計(jì)與分段模糊控制研究 李 訣1 2 鄒大鵬1 王高杰2 任 勇3 1 廣東工業(yè)大學(xué) 機(jī)電工程學(xué)院 廣東 廣州 510006 2 廣東順德創(chuàng)新設(shè)計(jì)研究院 廣東 佛山 528000 3 廣州柏創(chuàng)機(jī)電設(shè)備有限公司 廣東 廣州 511450 摘要 農(nóng)用運(yùn)輸自動(dòng)導(dǎo)引車 Automatic Guided Vehicle AGV 作為農(nóng)業(yè)高效 綠色 自動(dòng)化運(yùn)輸?shù)臋C(jī)械設(shè)備 以其低 成本 輕型化的設(shè)計(jì) 成為現(xiàn)代農(nóng)業(yè)機(jī)械化的一個(gè)重要發(fā)展方向 為此 針對(duì)農(nóng)業(yè)大棚環(huán)境 設(shè)計(jì)一款基于磁導(dǎo)航的 農(nóng)用運(yùn)輸AGV 對(duì)該AGV的運(yùn)載力進(jìn)行核算 確定其工作能力 結(jié)合設(shè)計(jì)的磁導(dǎo)航模塊 對(duì)AGV進(jìn)行了運(yùn)動(dòng)學(xué)建模 應(yīng)用模糊PID控制算法 對(duì)AGV的驅(qū)動(dòng)速度進(jìn)行仿真與實(shí)驗(yàn) 結(jié)果表明AGV能夠在4 s內(nèi)完成速度的控制響應(yīng) 并最終 做到相對(duì)穩(wěn)定運(yùn)行 速度誤差小于5 設(shè)計(jì)分段模糊PID控制算法 對(duì)AGV的循跡導(dǎo)引進(jìn)行仿真與實(shí)驗(yàn) 結(jié)果表明在 不同驅(qū)動(dòng)速度下AGV都能夠調(diào)節(jié)與導(dǎo)航磁條的相對(duì)位置誤差 穩(wěn)定運(yùn)行時(shí) 其相對(duì)位置誤差保持在 7 5 mm以內(nèi) 關(guān)鍵詞 自動(dòng)導(dǎo)引車 磁導(dǎo)航 PID 模糊控制 農(nóng)用運(yùn)輸 中圖分類號(hào) S24 文獻(xiàn)標(biāo)志碼 A 文章編號(hào) 1007 7162 2022 01 0078 07 A Design of AGV for Miniature Agricultural Transportation and Research on Piecewise Fuzzy Control Li Jue1 2 Zou Da peng1 Wang Gao jie2 Ren Yong3 1 School of Electromechanical Engineering Guangdong University of Technology Guangzhou 510006 China 2 Guangdong Shunde Innovative Design Institute Foshan 528000 China 3 Guangzhou Baichuang Electromechanical Equipment Co Ltd Guangzhou 511450 China Abstract Agricultural transport automatic guided vehicle AGV as a high efficiency green automatic transport machinery and equipment with its low cost miniature design has become an important development direction of modern agricultural mechanization In view of the agricultural greenhouse environment an AGV for agricultural transportation based on magnetic navigation is designed Firstly the carrying capacity of the AGV is calculated to determine its working capacity Then combined with the designed magnetic navigation module the kinematics model of the AGV is built The driving speed of the AGV is simulated and tested by using fuzzy PID control algorithm and the results show that the AGV can complete the speed control response within 4 s and finally achieve relatively stable operation with the speed error less than 5 Finally the piecewise fuzzy PID control algorithm is designed to simulate and experiment the tracking guidance of AGV and the results show that the relative position error between AGV and navigation magnetic stripe can be adjusted under different driving speeds and the relative position error can be kept within 7 5 mm when AGV runs stably Key words automatic guided vehicle AGV magnetic navigation PID fuzzy control agricultural transportation 自動(dòng)導(dǎo)引小車 Automated Guided Vehicle AGV 是一種以微處理器為核心 搭配相關(guān)控制驅(qū)動(dòng)系統(tǒng) 使其能夠沿著預(yù)定目標(biāo)路線執(zhí)行自動(dòng)導(dǎo)引循跡的功 能小車 AGV以其自動(dòng)化的運(yùn)輸特性 正成為當(dāng)代社 會(huì)生產(chǎn)中的關(guān)鍵設(shè)備 1 2 隨著現(xiàn)代農(nóng)業(yè)機(jī)械化的發(fā)展 以農(nóng)業(yè)生產(chǎn)為核 心 協(xié)同種植 育苗 移栽 運(yùn)送等農(nóng)業(yè)活動(dòng)的高效 綠色農(nóng)業(yè)運(yùn)輸方式成為現(xiàn)代農(nóng)業(yè)的重要基礎(chǔ) 3 伴隨 第 39 卷 第 1 期 廣東工業(yè)大學(xué)學(xué)報(bào) Vol 39 No 1 2022 年 1 月 Journal of Guangdong University of Technology January 2022 收稿日期 2020 12 30 基金項(xiàng)目 廣東省科技計(jì)劃項(xiàng)目 2017A010102012 廣東省科技特派員企業(yè)項(xiàng)目GDKTP2020058900 作者簡(jiǎn)介 李訣 1994 男 碩士研究生 主要研究方向?yàn)閱纹瑱C(jī)開發(fā) AGV控制系統(tǒng)的設(shè)計(jì) E mail 978640059 通信作者 王高杰 1981 男 碩士 主要研究方向?yàn)槲锫?lián)網(wǎng)與人工智能 E mail 67021603