全向重载AGV多轴协同运动控制研究

Research on multi-axis cooperative motion control of omnidirectional heavy-duty AGV

摘要:

针对四舵轮式全向重载自动引导小车(Automated Guided Vehicle,AGV)的多电机伺服控制系统，转向时在外界负载的影响下，4个转向电机易出现不协同的现象。为实现4个转向电机高效协同，通过分析转向工况下，四舵轮式AGV中各个舵轮实时的转角关系，建立协同的四个转向电机数学模型；采用天牛须搜索算法(Beetle Antennae search algorithm, BAS)与PID控制器融合方法，对单电机PID控制器寻求最优PID参数；运用交叉耦合控制策略，分别设计4台转向电机的位置补偿器；最后通过Simulink仿真验证运动控制算法的可行性。实验结果表明，该运动控制算法的同步稳定性高，收敛速度快，抗干扰能力强，扩大了全向重载AGV的应用范围，因而具有较高的应用价值。

Abstract:

For the multi-motor servo control system of the four-wheeled omnidirectional heavy-duty Automated Guided Vehicle (AGV), under the influence of external load during steering, the four steering motors are prone to incoordination. In order to realize the efficient coordination of the four steering motors, by analyzing the real-time rotation angle relationship of each steering wheel in the four-wheel AGV under the steering conditions, a mathematical model of the four steering motors is established; the Beetle Antennae search algorithm(BAS) is adopted and PID controller fusion method, seek the optimal PID parameters for the single-motor PID controller; use the cross-coupling control strategy, design the position compensator of 4 steering motors respectively; finally verify the feasibility of the motion control algorithm through Simulink simulation. Experimental results show that the motion control algorithm has high synchronization stability, fast convergence speed, and strong anti-interference ability, which expands the application range of omnidirectional heavy-duty AGV, and therefore has high application value.