四轮驱动自动导引车横向轨迹跟踪研究
Research on Lateral Trajectory Tracking of Four-wheel Drive AGV
王玉洁 1陈远2
作者信息
- 1. 南京理工大学机械工程学院,江苏南京 210094
- 2. 江苏金陵智造研究院有限公司,江苏南京 210006
- 折叠
摘要
轨迹跟踪控制是自主导引车(AGV)的重要组成部分.为提高轨迹跟踪的快速性和稳定性,根据牛顿欧拉方程建立AGV的二自由度动力学方程,据此建立误差模型,设计基于AGV动力学模型的线性时变模型预测控制算法,建立以状态增量和控制增量为变量的优化函数,对其添加状态量约束、控制量约束和控制增量约束,同时增加软约束动态,通过仿真对设计的控制器进行分析验证,结果证明了控制器的有效性.
Abstract
Track tracking control is an important part of automated guided vehicle(AGV).In order to improve the rapidity and stability of trajectory tracking,a two degree of freedom dynamic equation of AGV is established according to Newton Euler equation,and an error model is established accordingly.A linear time-varying model predictive control algorithm based on AGV dynamic model is designed,and an optimization function with state increment and control increment as variables is established.The constraints of state quantity,control quantity and control increment as well as soft constraint dynamics are added.The simulation results verify the effectiveness of the controller.
关键词
自动导引车/轨迹跟踪控制/模型预测控制Key words
automated guided vehicle/trajectory tracking control/model predictive control引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据