摘要
为了实现单舵轮自动导引车(Automated Guided Vehicle,AGV)轨迹跟踪的快速稳定响应,设计了一种基于双幂次趋近律的单舵轮AGV双闭环轨迹跟踪滑模控制策略。建立了单舵轮AGV的运动学模型,构建包括外环位置子系统和内环姿态子系统的双闭环轨迹跟踪控制方案;采用基于双幂次趋近律的滑模变结构控制算法,分别设计了前轮速度和前轮转角控制律,并利用李雅普诺夫稳定性理论分别对所设计的外环位置子系统和内环姿态子系统进行稳定性证明;MATLAB软件仿真结果表明,相较于基于指数趋近律的单舵轮AGV双闭环轨迹跟踪滑模控制器,基于双幂次趋近律的单舵轮AGV双闭环轨迹跟踪滑模控制器在保证单舵轮AGV轨迹跟踪稳定性的同时具有更快的响应速度。
In order to achieve fast and stable response of single-wheel-driven Automated Guided Vehicle(AGV)trajectory tracking,a double closed-loop trajectory tracking control strategy of single-wheel-driven AGV based on sliding mode control with double power reaching law was designed.The kinematics model of single-wheel-driven AGV was established,a double closed-loop trajectory tracking control scheme was constructed,including the outer loop position subsystem and the inner loop attitude subsystem;the sliding mode variable structure control algorithm based on double power reaching law was used to design the front wheel speed control law and the front wheel rotation control law respectively,and Lyapunov stability theory was used to prove the stability of the designed inner and outer loop control subsystem;MATLAB software simulation results show that,compared with the double closed-loop trajectory tracking controller of single-wheel-driven AGV based on sliding mode control with exponential reaching law,the proposed double closed-loop trajectory tracking controller of single-wheel-driven AGV based on sliding mode control with double power reaching law can ensure the stability of single-wheel-driven AGV trajectory tracking and has a faster response speed.
作者
孔慧芳
赵志慧
房耀
KONG Huifang;ZHAO Zhihui;FANG Yao(School of Electrical Engineering and Automation,Hefei University of Technology,Hefei 230009,China)
出处
《现代制造工程》
CSCD
北大核心
2022年第8期33-38,共6页
Modern Manufacturing Engineering
基金
安徽省重点研发计划项目(JZ2021AKKG0310)。
关键词
单舵轮自动导引车
轨迹跟踪
双幂次趋近律
双闭环
single-wheel-driven Automated Guided Vehicle(AGV)
trajectory tracking
double power reaching law
double closed-loop
作者简介
孔慧芳,博士,教授,博士生导师,主要研究方向为汽车电子和物联网等领域的控制理论和应用研究等;通信作者:赵志慧,硕士研究生,主要研究方向为复杂系统建模、控制与优化。E-mail:18256275022@163.com。
