Research On Material Handling Automated Guided Vehicle Design And Trajectory Tracking Control

The application fields of new technologies such as advanced manufacturing technology and factory logistics automation are receiving more and more attention from the state and large enterprises.As the main force of intelligent manufacturing and intelligent warehousing,the automated guided vehicle is an indispensable important equipment and system technology for advanced manufacturing technology and factory logistics automation.The development of automated guided vehicle technology has further contributed to the realization of advanced flexible manufacturing technology and automated logistics systems.This topic is to design a material handling automated guided vehicle according to the functional requirements and basic parameters of the automated guided vehicle,and to study the trajectory tracking control of the automated guided vehicle from the perspective of theoretical analysis and engineering practical application.Firstly,according to the functional requirements and basic parameters of the automated guided vehicle,the overall design scheme of the automated guided vehicle is proposed.The guiding method adopts the two-dimensional code inertial combination guidance,and the driving method selects the six-wheel differential driving traveling mechanism.The control system uses a DSP processor,etc.Secondly,the solid three-dimensional model of the automated guided vehicle entity is established by Solidworks.Since the automated guided vehicle body is the main load-bearing component,it is easy to lose effectiveness under stress,and whether the vehicle body design is reasonable or not directly affects the driving performance of the automated guided vehicle.Therefore,the finite element analysis of the automated guided vehicle body is required.The static analysis of the car body is carried out by HyperMesh,and the stiffness and strength of the car body are checked.The natural frequencies and modes of the first six modes of the car body are verified by modal analysis.Thirdly,the kinematics and dynamics mathematical model of the automated guided vehicle with the geometric center as the reference point is established.The Backstepping method control law is designed for the kinematics model of the automated guided vehicle,and the virtual control speed is obtained.However,the control law cannot effectively control the system with parameter perturbation and external disturbance.Therefore,a sliding mode trajectory tracking controller with moment as the control input is designed for the dynamic model of the automated guided vehicle.The simulation result proves that the controller can track the reference trajectory effectively and stably.Due to the high-frequency chattering phenomenon in the sliding mode controller,an adaptive fuzzy control law is designed to replace the switching control law in the sliding mode controller to eliminate the chattering phenomenon in the sliding mode controller by utilizing the universal approximation characteristic of the adaptive fuzzy system.The simulation result proves that the adaptive fuzzy sliding mode trajectory tracking controller can track the reference trajectory stably and effectively,and can eliminate the chattering phenomenon.By comparing the simulation curves of sliding mode control and adaptive fuzzy sliding mode control,it is concluded that the adjusting time of the adaptive fuzzy sliding mode controller is 1/2 of that of the ordinary sliding modecontroller in the initial posture adjustment stage and the external disturbance adjustment phase,and the trajectory tracking is more stable and efficient.Finally,the straight-line traveling test of automated guided vehicle shows that the trolley can travel along the straight-line reference path at the desired speed,and the deviation of the heading angle is within the allowable range.The spin motion test of automated guided vehicle shows that the trolley can achieve high-quality steering.