Drive Wheel Adaptive Robust Control System Design Of Omnidirectional Mobile AGV

With advantages of efficient parallel operation,automation and flexibility,omnidirectional mobile Automatic Guided Vehicles are receiving more and more attention in the field of aviation manufacturing.It can complete fast and accurate transfer of aircraft parts,realize multi-batch assembly line operations,shorten the mission cycle,improve work efficiency and production flexibility.The paper takes an omnidirectional mobile AGV as the research object which is used to transport the airplane panel fixture.A drive control system based on adaptive robust control is designed to realize the stable movement and high-precision positioning.The dissertation consists of the following five chapters:Chapter 1 introduces the research background and significance,reviews the development of wheeled mobile robot and AGV at home and abroad,details its motion control methods and the development of adaptive robust control in the field of nonlinear control.Finally,the main research content is presented.Chapter 2 details the main functions,technical indicators and structural design of AGV,and carries out the kinematics analysis.According to its mission requirements and motion mechanism,a control solution is designed which is suitable for its 4WID-4WIS architecture.And complete the AGV motion control system based on TwinCAT.Chapter 3 analyzes the influence of parameter uncertainties and uncertain nonlinear factors on AGV motion control system firstly.After completing the dynamics analysis and modeling,a novel driving wheel control system based on adaptive robust control is proposed,and then construct ARC model in Simulink.Chapter 4 validates the proposed driving control system.The AGV experimental platform was constructed to carry out comparative experiments and research analyzes of PID and ARC control methods under no-load/load and different speed conditions.The results show that the drive control system based on ARC can effectively overcome the interference caused by uneven ground and load changes in transportation,and the fast smooth speed tracking of AGV is realized.The system achieves the maximum position error within 1°,the average position error within 0.2° and the straight line motion stop error within 0.1°.That is to say,the proposed driving control system based on ARC realizes a better drive control on AGV.Chapter 5 summarizes main research work that has been done,and prospects the further research.