Magnetic navigation AGV (Automatic Guided Vehicle) linear route correcting method based on proportional differential regulation

Abstract

The invention discloses a magnetic navigation AGV (Automatic Guided Vehicle) linear route correcting method based on proportional differential regulation. The method comprises the following steps: arranging magnetic induction sensors on a front side and a back side of a magnetic navigation AGV vehicle body; building vehicle-loaded system upper-lower computer communication; acquiring an initial position and a motion direction of the magnetic navigation AGV vehicle body; determining a proportional coefficient and a differential coefficient of a proportional differential regulation way so as to realize magnetic navigation AGV linear route correction. Double magnetic induction sensors are adopted, and path converging conditions of a plurality of initial position conditions are analyzed to determine a proportional differential coefficient suitable for all position conditions, so that forward and backward bidirectional linear position adjustment of the magnetic navigation AGV vehicle body is realized, position deviations can be eliminated within a short time, the driving stability is ensured, and the industrial application demand is met.

Description

technical field [0001] The invention belongs to the technical field of industrial controllers, and in particular relates to a method for correcting a straight line of a magnetic navigation AGV based on proportional differential adjustment. Background technique [0002] As one of the key technologies in AGV path planning, the path correction technology of magnetic navigation AGV driving in a straight line has received extensive attention in domestic AGV product research and development. The deviation of the magnetic induction sensor relative to the center of the magnetic strip will cause the car body to be unable to drive in a straight line at the beginning of the movement, resulting in left and right swinging. In order to ensure that the car body can eliminate the deviation caused by the initial position in a short time, and ensure that the car body runs stably along the paved path in the subsequent movement, the research on the path correction method is particularly importa...

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Problems solved by technology

Although fuzzy control does not require precise mathematical models, it is necessary to formulate reasonable rules. The formulation of rules takes a lot of energy, and requires the operator to be quite familiar with the system and know how to adjust it under any circumstances.

[0007] 2. This method does not optimize and improve the correction of the position of the trolley relative to the magnetic strip, but only controls the movement of the trolley within a certain distance from the left and right of the magnetic strip, the movement accuracy is not high, and the control strategy is very complicated

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