四轮AGV搬运车直线移动PID控制与实现
Four-Wheel AGV Transporter Straight-Line Movement PID Control and Implementation
陈文明 1汪颂2
作者信息
- 1. 宁波职业技术学院人工智能学院,浙江宁波 315800
- 2. 浙江正泰电气科技有限公司,浙江嘉兴 314000
- 折叠
摘要
受路面环境、机械结构因素影响,当控制AGV搬运车直线移动时,左右两侧驱动轮实际转速存在差异,导致AGV搬运车前进路线产生偏移.为了解决以上问题,对四轮AGV搬运车采用增量式PID控制算法进行了直线移动控制设计和实现,包括AGV搬运车结构组成、直线移动PID控制算法设计、控制系统搭建与实现等.通过试验验证,在增量式PID控制算法的不断修正下,AGV搬运车的前进路线被修正为一条直线,实现了四轮AGV搬运车直线移动控制.
Abstract
This paper presents the design and implementation of a PID control algorithm to achieve straight-line movement for a four-wheel AGV(automated guided vehicle)transporter.The forward trajectory of the AGV transporter can deviate due to factors such as road conditions and mechanical structure,leading to differences in the actual rotational speeds of the left and right driving wheels.To address this issue,a PID control algorithm specifically designed for straight-line movement is developed and implemented.Experimental validation demonstrates that continuous refinement of the incremental PID control algorithm effectively corrects the forward trajectory of the AGV transporter,enabling precise control of straight-line movement.
关键词
PID控制算法/直线移动/四轮AGV搬运车/Arduino控制器Key words
PID control algorithm/straight-line movement/four-wheel AGV transporter/Arduino controller引用本文复制引用
基金项目
宁波职业技术学院科研项目(NZ24028Q)
出版年
2024
NETL
NSTL
万方数据