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Magnetic belt guided AGV tracking control method based on auto-disturbance-rejection control

A technology of active disturbance rejection control and control method, applied in the direction of non-electric variable control, control/regulation system, two-dimensional position/channel control, etc., can solve the problem of limited external and system interference anti-interference ability, rapid response and control Problems such as excessive overshoot and left and right oscillation of AGV

Active Publication Date: 2017-06-13
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0005] In order to solve the contradiction between fast response and excessive control overshoot in the existing tape-guided AGV tracking control method, the problem of AGV left and right oscillation during the tracking process, and the shortcomings of limited anti-interference ability to external and system interference, The invention provides an active disturbance rejection control method to deal with the tracking problem of the tape-guided AGV, which effectively reduces the overshoot of the tracking control and ensures rapid response. It has high tracking accuracy and strong anti-interference ability, etc. advantage

Method used

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  • Magnetic belt guided AGV tracking control method based on auto-disturbance-rejection control
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  • Magnetic belt guided AGV tracking control method based on auto-disturbance-rejection control

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Embodiment Construction

[0070] The present invention will be further described below in conjunction with the accompanying drawings.

[0071] refer to Figure 1 ~ Figure 3 , a kind of tape guidance AGV tracking control method based on active disturbance rejection control, described method comprises the following steps:

[0072] Step 1) Taking the four-wheeled car as the research object, the two front wheels are used as driving wheels to realize differential steering, and the two rear wheels are used as driven wheels to play a supporting role. Assuming that the axis of the driving wheel of the trolley is the center of mass of the trolley, according to the motion characteristics of the mobile robot, the tracking model of the tape-guided AGV can be obtained as:

[0073]

[0074] As long as there is a deviation E in the magnetic guidance sensor, the system can convert the speed difference of the driving wheel into the speed of the two driving wheels of the trolley through the control input u, and then...

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Abstract

Provided is a magnetic belt guided AGV tracking control method based on auto-disturbance-rejection control. Firstly, a magnetic belt guided AGV tracking control system model is established. Secondly, the deviation distance of a magnetic guided sensor under different postures of the vehicle is measured to describe output variables required by a control system, and a measurement error in the actual measurement process and a description error are taken as one part of system disturbance. Thirdly, for a second-order model of the magnetic belt guided AGV tracking control system, an auto-disturbance-rejection controller based on an extended state observer is designed, and the system disturbance is estimated and subjected to freeforward compensation through the extended state observer, thus eliminating the impact of the system disturbance on system performance. The magnetic belt guided AGV tracking control method of auto-disturbance-rejection control solves the contradiction between the fastness of the magnetic belt guided AGV tracking and overshoot control, effectively suppresses the oscillation phenomenon in the tracking process and improves the anti-disturbance capacity of the system.

Description

technical field [0001] The invention relates to the field of automatic guided vehicle control, in particular to a tape-guided AGV tracking control method based on active disturbance rejection control. Background technique [0002] Automated Guided Vehicle (AGV for short) is generally equipped with automatic guidance devices such as electromagnetic or optical, can travel according to a predetermined guidance path, has safety protection and various transfer functions and is used in practical industrial applications A transporter that does not require a driver. Its main function is as follows: under the monitoring of the upper computer, according to the planned path and operation requirements, the trolley can accurately walk and stop at the designated position and can complete a series of operations such as transfer and handling. The application fields of AGV are mainly distributed in: the automotive industry, flexible manufacturing systems, flexible assembly systems, and ware...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0265
Inventor 张文安周海海王瑶为刘安东仇翔
Owner ZHEJIANG UNIV OF TECH
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