浙江大学学报(工学版)  2022, Vol. 56 Issue (9): 1867-1875    DOI: 10.3785/j.issn.1008-973X.2022.09.020
 机械工程

1. 浙江机电职业技术学院 智能制造学院，浙江 杭州 310053
2. 浙江大学 流体传动及控制国家重点实验室，浙江 杭州 310027
Design of AGV motion control system based on model reference adaptive method
Hui GONG1(),Qiang FANG2,*(),Guo-qiang LI1,Xiao-feng ZHENG1,Yong-ren ZHU1
1. School of Intelligent Manufacturing, Zhejiang Institute of Mechanical and Electrical Engineering, Hangzhou 310053, China
2. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
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Abstract:

A servo control method based on model reference adaptive control (MRAC) was proposed, to eliminate the control system uncertainty which was caused by the unbalanced load between the Mecanum wheels of the automated guided vehicle (AGV) system. The mathematical model of the driving wheel servo motor was established. The control law and adaptive law of MRAC were acquired by Lyapunov method, and the positive definite matrix of the adaptive law was determined. According to the frequency characteristics of the servo motor during the operation of the AGV, a low-pass filter was introduced. The cut-off frequency of the second-order Butterworth low-pass filter was determined by the positioning accuracy of the AGV and the stability of the MRAC system. The high frequency oscillation of the control system was effectively suppressed and the high steady-state accuracy was achieved. Experimental results show that the control performance of the AGV based on MRAC achieves a high stability under complex working conditions. The speed error of each motor is controlled within 3%, and the positioning accuracy error is less than 3.6 mm.

Key words: automated guided vehicle (AGV)    Mecanum wheel    model reference adaptive control (MRAC)    low-pass filter

 CLC: TP 273

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引用本文:

Hui GONG,Qiang FANG,Guo-qiang LI,Xiao-feng ZHENG,Yong-ren ZHU. Design of AGV motion control system based on model reference adaptive method. Journal of ZheJiang University (Engineering Science), 2022, 56(9): 1867-1875.

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 图 1  麦克纳姆轮AGV 图 2  麦克纳姆轮AGV控制系统 图 3  模型参考自适应控制原理 表 1  AGV驱动系统运动模型参数 图 4  采用模型参考自适应控制的电机位移特性 图 5  麦克纳姆轮分布形式 图 6  AGV运行路径与路面状况 图 7  AGV 4组电机的运行电流 图 8  单轴电机阶跃信号响应 图 9  不同AGV平移速度时驱动电机的响应速度 图 10  4组电机在AGV平移速度100 mm/s时的自适应参数调整曲线 表 2  采用模型参考自适应控制的AGV停车精度测试结果 图 11  采用模型参考自适应控制的AGV定位误差测试结果