AGV直流电机控制系统及运动轨迹算法设计
|
摘要
本文提出了并联PID和耦合PID两种控制策略,分别应用于不同工况下的AGV直流电机控制系统。利用MATLAB工具和实验平台对AGV的控制策略和算法进行了仿真,仿真结果表明,两种控制算法均能良好的实现预定功能,其中由于较小的累积误差,耦合控制策略性能较优。
In this paper, two kinds of motor control strategies, parallel and coupled PID are proposed, are applied to the control system under different operating conditions. The control strategy and algorithm of AGV are simulated by using MATLAB tool and experiment platform. Simulation results show that the two control algorithms can achieve the desired function well. The performance of the coupling control strategy is better because of the small cumulative error
In this paper, two kinds of motor control strategies, parallel and coupled PID are proposed, are applied to the control system under different operating conditions. The control strategy and algorithm of AGV are simulated by using MATLAB tool and experiment platform. Simulation results show that the two control algorithms can achieve the desired function well. The performance of the coupling control strategy is better because of the small cumulative error
引文
[1]Sankari J,Imtiaz R.Automated guided vehicle(AGV)for industrial sector.2016 10th International Conference on Intelligent Systems and Control(ISCO)2016,1-5.
[2]Elsrogy WM,Fkirin MA,Hassan MAM.Speed control of DC motor using PID controller based on artificial intelligence techniques.2013 International Conference on Control,Decision and Information Technologies(Co DIT)2013,196-201.
[3]Hui Y,Yan Z,Long WZ,Chao Y.Adaptive double-Loop PIDcontrol method of DC motor based on the GA-FNC algorithm.2012 8th IEEE International Symposium on Instrumentation and Control Technology(ISICT)Proceedings 2012,324-329.
[4]Jain RV,Aware MV,Junghare AS.Tuning of Fractional Order PID controller using particle swarm optimization technique for DC motor speed control.2016 IEEE 1st International Conference on Power Electronics,Intelligent Control and Energy Systems(ICPEICES)2016,1-4.
[5]Abhinav R,Sheel S.An adaptive,robust control of DC motor using fuzzy-PID controller.2012 IEEE International Conference on Power Electronics,Drives and Energy Systems(PEDES)2012,p.1-5.
[6]Rigatos GG.Adaptive fuzzy control of DC motors using state and output feedback.Electric Power Systems Research 2009,79(11):1579-1592.
[7]Yan WB,Wang D,Jia PF,Li WG.The PWM speed regulation of DCmotor based on intelligent control.Systems Engineering Procedia2012,3:259-267.
[8]Wang YY,WANG Z,GUO LH.Experiment study on the transfer function for DC motor.Experimental Technology and Management 2008,25(8):38-40.
[9]He C.Sinultaneous Target Tracking and Obstacle Avoidance for Mobile Robot Using Kinect.2013.Taiyuan:Taiyuan University of Technology.
[10]He X,Cui T,Zhang D,et.al.Development of an electricdriven control system for a precision planter based on a closedloop PID algorithm.Computers and Electronics in Agriculture2017,136:184-192.
[11]Li LB,Sun LL,Zhang SZ.Mean deviation coupling synchronous control for multiple motors via second-order adaptive sliding mode control.ISA Transactions 2016,62:222-235.
[2]Elsrogy WM,Fkirin MA,Hassan MAM.Speed control of DC motor using PID controller based on artificial intelligence techniques.2013 International Conference on Control,Decision and Information Technologies(Co DIT)2013,196-201.
[3]Hui Y,Yan Z,Long WZ,Chao Y.Adaptive double-Loop PIDcontrol method of DC motor based on the GA-FNC algorithm.2012 8th IEEE International Symposium on Instrumentation and Control Technology(ISICT)Proceedings 2012,324-329.
[4]Jain RV,Aware MV,Junghare AS.Tuning of Fractional Order PID controller using particle swarm optimization technique for DC motor speed control.2016 IEEE 1st International Conference on Power Electronics,Intelligent Control and Energy Systems(ICPEICES)2016,1-4.
[5]Abhinav R,Sheel S.An adaptive,robust control of DC motor using fuzzy-PID controller.2012 IEEE International Conference on Power Electronics,Drives and Energy Systems(PEDES)2012,p.1-5.
[6]Rigatos GG.Adaptive fuzzy control of DC motors using state and output feedback.Electric Power Systems Research 2009,79(11):1579-1592.
[7]Yan WB,Wang D,Jia PF,Li WG.The PWM speed regulation of DCmotor based on intelligent control.Systems Engineering Procedia2012,3:259-267.
[8]Wang YY,WANG Z,GUO LH.Experiment study on the transfer function for DC motor.Experimental Technology and Management 2008,25(8):38-40.
[9]He C.Sinultaneous Target Tracking and Obstacle Avoidance for Mobile Robot Using Kinect.2013.Taiyuan:Taiyuan University of Technology.
[10]He X,Cui T,Zhang D,et.al.Development of an electricdriven control system for a precision planter based on a closedloop PID algorithm.Computers and Electronics in Agriculture2017,136:184-192.
[11]Li LB,Sun LL,Zhang SZ.Mean deviation coupling synchronous control for multiple motors via second-order adaptive sliding mode control.ISA Transactions 2016,62:222-235.