• CN:11-2187/TH
  • ISSN:0577-6686

›› 2011, Vol. 47 ›› Issue (3): 43-48.

• 论文 • 上一篇    下一篇



  1. 南京航空航天大学机电学院
  • 发布日期:2011-02-05

Integrated Motion Control of Path Tracking and Servo Control for an Automated Guided Vehicle

WU Xing;LOU Peihuang;TANG Dunbing   

  1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics
  • Published:2011-02-05

摘要: 对受到非完整约束和动力学影响的自动导引车(Automated guided vehicle, AGV),提出一种包含路径跟踪和伺服控制的混合运动控制模型。为消除AGV位姿偏差,在速度和加速度约束下,基于多步预测最优控制和智能预测迭代控制的路径跟踪技术,输出纠偏协调性最优的有限速度差控制量,并根据该控制量和AGV运行速度设置两驱动轮的目标速度。为消除驱动轮速度误差,以路径跟踪所需的伺服控制能力为决策偏好,采用多目标遗传算法优化伺服控制器的PID参数,保证两驱动轮的实际速度满足路径跟踪要求,并根据系统响应性能反馈速度和加速度约束。AGV路径跟踪试验表明,该混合运动控制模型可匹配路径跟踪技术的位姿纠偏能力与伺服控制技术的速度纠偏能力,有利于实现AGV运动性能的整体优化。

关键词: 路径跟踪, 伺服控制, 运动控制, 自动导引车

Abstract: An integrated motion control model of path tracking and servo control is proposed for an automated guided vehicle (AGV) that suffers non-holonomic constraints and dynamic effects. Path tracking technique based on multi-step predictive optimal control and intelligent predictive iterative control is used to correct pose errors of AGV, which produces the limited speed difference output with the best coordination for error correction under velocity and acceleration constraints. Target velocities of two driving wheels are set according to this output and AGV moving speed. A multi-objective genetic algorithm takes servo control performances required by path tracking as its decision-making preferences, and it is used to optimize PID parameters of a servo controller that is responsible for eliminating velocity errors of driving wheels and making their actual velocities satisfy the requirements of path tracking. Velocity and acceleration constraints are adjusted as a feedback according to system response performances. AGV path tracking experiment demonstrates that this control model can match the capability of path tracking technique to correct pose errors with that of servo control technique to eliminate velocity errors, which can achieve the overall optimization of AGV motion performance.

Key words: Automated guided vehicle, Motion control, Path tracking, Servo control