• CN:11-2187/TH
  • ISSN:0577-6686

›› 2014, Vol. 50 ›› Issue (8): 119-127.

• 论文 • 上一篇    下一篇

基于动态输出观测器的一类自动引导车镇定问题研究

鲍伟; 赵韩; 尹良杰   

  1. 合肥工业大学机械工程博士后科研流动站;安徽江淮汽车集团有限公司博士后科研工作站
  • 出版日期:2014-04-20 发布日期:2014-04-20

Study on Class of Automated Guided Vehicle Stability Based on Dynamic Output Observer

BAO Wei; ZHAO Han; YIN Liangjie   

  1. Postdoctoral Work Station of Mechanical Engineering, Hefei University of Technology;Postdoctoral Work Station, Anhui Jianghuai Automobile Co., Ltd.
  • Online:2014-04-20 Published:2014-04-20

摘要: 针对一类自动引导车(Automated guided vehicle,AGV)轨迹跟踪控制系统的镇定问题,提出用动态输出观测器进行镇定。建立AGV轨迹跟踪控制系统的数学模型,讨论动态输出观测器设计方法存在的不足,并且分析特征矢量矩阵条件数对系统鲁棒稳定性的重要影响。在此基础上,针对动态输出观测器特征矢量配置中存在的自由度,提出用粒子群算法对其进行优化。粒子的位置代表特征矢量配置的自由度,并以特征矢量矩阵的条件数作为优化目标函数,以获得最小的条件数,从而进一步提高镇定系统的鲁棒稳定性。仿真试验结果表明,对于系统状态矩阵参数的摄动,基于动态输出观测器反馈控制的AGV镇定的鲁棒稳定性要优于全维状态观测器。更进一步,基于粒子群的动态输出观测器镇定方法具有更强的鲁棒稳定性。

关键词: 自动引导车;镇定;动态输出观测器;粒子群

Abstract: In automated guided vehicle(AGV) system, a stability method, which is based on dynamic output observer, is put forward to solve the stability problem of trajectory tracking system. The model of AGV trajectory tracking system is built. The shortage of design method of dynamic output observer is discussed. It is proved that the condition number of eigenvector matrix has important influence on the system’s robust stability. Because of the freedom of eigenvector assignment, the particle swarm arithmetic is used to optimize dynamic output observer. The freedom of eigenvector assignment is represented by the particle’s position, and the condition number of eigenvector matrix is used to be the objective function. The particle swarm arithmetic is used to obtain the minimum value of the condition number. It is shown by simulation that the robust stability of dynamic output observer with particle swarm arithmetic is better than that of dynamic output observer and full-order observer.

Key words: automated guided vehicle(AGV);stability;dynamic output observer;particle swarm

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