考虑耦合特性的港口AGV横纵向分层控制

doi:10.3901/JME.2025.14.383

机械工程学报 ›› 2025, Vol. 61 ›› Issue (14): 383-396.doi: 10.3901/JME.2025.14.383

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考虑耦合特性的港口AGV横纵向分层控制

李文锋^1,2, 张强^1,2, 钟志航^1,2, 郭龙^1,2

1. 武汉理工大学水路交通控制全国重点实验室武汉 430063;
2. 武汉理工大学交通与物流工程学院武汉 430063

收稿日期:2024-06-30 修回日期:2025-01-16 出版日期:2025-07-20 发布日期:2025-08-25
作者简介:李文锋，男，1966年出生，博士，教授，博士研究生导师。主要研究方向为智慧物流技术及装备和物流自动化与物联网技术。E-mail:liwf@whut.edu.cn;张强(通信作者)，男，1990年出生，博士研究生。主要研究方向为港口智能装备控制和多机协同控制。E-mail:lucky_zhangqiang@163.com
基金资助:
国家自然科学基金(62173263)和海南省自然科学基金(621CXTD1013)资助项目。

Lateral and Longitudinal Hierarchical Control of Port AGV Considering Coupling Characteristics

LI Wenfeng^1,2, ZHANG Qiang^1,2, ZHONG Zhihang^1,2, GUO Long^1,2

1. State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063;
2. School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063

Received:2024-06-30 Revised:2025-01-16 Online:2025-07-20 Published:2025-08-25

摘要/Abstract

摘要： 为提升港口自动导引车辆(Automated guided vehicle, AGV)路径追踪精度和稳定性，改善转弯时轮胎受侧向冲击较大的状况，提出一种考虑AGV横纵向运动耦合的分层控制策略。基于AGV二自由度动力学模型构建横向模型预测控制(Model predictive control, MPC)器，采用遗传算法离线优化MPC权重矩阵并根据运输工况设计权值选择机制，求解最佳前轮转角控制量。基于道路工况、转向机构约束，AGV横纵向耦合特性等因素设计纵向梯形速度规划器，采用分层控制方法设计上位滑模控制器和下位比例-积分控制器，实时求解AGV期望加速度并将其转化成油门/刹车控制量。最后，在Matlab/Simulink和Trucksim联合仿真平台与自研港口平台下，针对空/负载AGV的典型作业工况进行了仿真和实物测试验证。试验结果表明：所提控制策略能够显著提高AGV停车精度和弯道稳定性，改善转弯时轮胎受力情况。为解决港口AGV转向稳定性差，轮胎损耗量大等问题提供了新思路。

关键词: 横纵向耦合, 分层控制, 遗传算法, 速度规划器, 滑模控制器

Abstract: To improve the path-tracking accuracy and stability of the port automated guided vehicle(AGV), and to reduce the lateral impact of tires during turning, a hierarchical control strategy based on the coupling of lateral and longitudinal motions is proposed. The lateral model predictive control(MPC) controller is constructed based on the AGV’s two-degree-of-freedom dynamic model. The MPC weights matrix is optimized offline using a Genetic Algorithm, and a weight selection mechanism is designed based on the transportation conditions to determine the optimal control input for the front wheel steering angle. Based on factors such as road conditions, steering mechanism constraints, and the coupling characteristics of AGV’s longitudinal and lateral movements, a longitudinal trapezoidal speed planner is designed. A hierarchical control approach is used to design an upper-level sliding mode controller and lower-level proportional integral controller. The desired acceleration of the AGV is computed in real-time and converted into throttle/brake control inputs. Finally, simulation and physical testing verification are conducted on typical operational conditions of empty/load AGV using the joint simulation platform of Matlab/Simulink and Trucksim, as well as the port platform developed by the research team. The experimental results show that the proposed control strategy can significantly improve AGV’s stopping accuracy and cornering stability, and reduce tire forces during turning. A new thought process for solving the problems of poor steering stability and high tire damage in port AGVs is provided in the research.

Key words: lateral/longitudinal motion coupling, hierarchical control, genetic algorithm, speed planner, sliding mode controller

中图分类号:

TP242

李文锋, 张强, 钟志航, 郭龙. 考虑耦合特性的港口AGV横纵向分层控制[J]. 机械工程学报, 2025, 61(14): 383-396.

LI Wenfeng, ZHANG Qiang, ZHONG Zhihang, GUO Long. Lateral and Longitudinal Hierarchical Control of Port AGV Considering Coupling Characteristics[J]. Journal of Mechanical Engineering, 2025, 61(14): 383-396.

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考虑耦合特性的港口AGV横纵向分层控制

Lateral and Longitudinal Hierarchical Control of Port AGV Considering Coupling Characteristics

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