• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 1994, Vol. 30 ›› Issue (6): 58-62.

• 论文 • 上一篇    下一篇

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提高FMS有轨运输车定位精度及其可靠性研究试验——PDF控制器的研制和应用

赵良才;曾文火;吴春才   

  1. 华东船舶工业学院
  • 发布日期:1994-11-01

INVESTIGATION AND EXPERIMENT TO IMPROVE THE POSITIONING PRECISION AND RELIABILITY FOR AUTOMATICALLY GUIDED RAIL VEHICLE IN FMS——PDF CONTROLLER DEVELOPMENT AND APPLICATION TEST

Zhao Liangcai;Zeng Wenhuo;Wu Chuncai   

  1. East China Shipbuilding Institute
  • Published:1994-11-01

摘要： 叙述了一种新型的、具有很强鲁棒性的伪微分反馈（PDF——Pseudo-DerivativeFeed-back）控制器。作者将其用来控制FMS有轨运输车模型，以提高运输车定位精度及其可靠性。介绍了研究试验中的设计、计算、调试以及实验结果。其中详细地阐述了模型运输车的机械结构与设计，驱动系统固有频率计算与控制，模型车数学模型的建立与参数识别，PDF控制器设计与参数优化以及实验装置总体调试与定位精度测试。研究结果表明，实验装置的设计、分析计算以及试验是成功的，达到预期的目标，为工业试验提供了依据；采用PDF控制器控制运输车具有调试方便，工作可靠以及能较大地提高运输车的定位精度等优点。

关键词: FMS, 可靠性, 伪微分反馈, 运输小车

Abstract: A new type of the controller with powerful robustness is presented to improving the positioning precision and reliability for automatically guided rail vehicle (AGRV) by sing the PDF (Pseudo-Derivative-feed-back) controller. The structure of the experiment device, the mathematical model of AGRV and its parameters' identification, the method of measuring the positioning precision and testing results are described. The results indicate: (1) the design, analying, calculating and testing methods are successful, the results have reached the expected goal and the real AGRV can be designed based on these results. (2) using PDF controller to control the AGRV has many advantages, testing is convenient, working is reliable and the positioning precision is improved.

Key words: FMS Vehicle, Reliability PDF (Pseudo-Derivative-Feedback)

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