Research On Multi-motor Coordinated Drive Control System Of Automated Guided Vehicle

With the promotion of policies and the development of technology,Automated Guided Vehicles(AGV)are increasingly appearing in places such as intelligent parking garages,intelligent warehouse logistics,and various processing workshops.As the application scenario continues to expand and deepen,the overall technical requirements for AGV are also increasing.In the driving technology of AGV,when multiple motors are used for common driving and each wheel corresponds to the driving mode of one independent motor,AGV can be more flexible,can have better precision when traveling,and the overall load is larger.This paper focuses on the multi-motor coordinated drive control system of AGV.Firstly,the theoretical analysis of the AGV multi-motor coordinated drive control system is carried out.Based on this,the control method of the multi-motor coordinated drive control system is studied.Aiming at various basic control methods such as independent operation,master-slave structure control,cross-coupling control and deviation coupling control,the analysis and simulation modeling are carried out.With the help of fuzzy control,an improved deviation coupling control method is proposed.Simulation results shows that the algorithm has obvious improvement on response time and overshoot,and improves the stability of multi-motor coordinated drive control system.Secondly,the support vector machine algorithm is proposed to improve the multi-motor coordinated drive control performance of AGV,and its two important parameters are optimized by grid search method.The collected data is used to simulate and the results are combined with BP neural network.For comparison,it proves its effectiveness.An improved particle swarm optimization algorithm combined with genetic algorithm is proposed.Compared with the common particle swarm optimization algorithm,the accuracy of support vector machine is improved,and its generalization ability is strengthened.Finally,the AGV multi-motor coordinated control system was modeled and simulated.The various modes of travel for multi-motor AGV are analyzed,and the kinematics analysis of the four-wheel steering mode is emphasized.The four-wheeldrive AGV car was physically modeled by Adams software,and the AGV multi-motor coordinated drive control system was built by the connection of Adams and Matlab.The results of joint simulation show that the system makes the AGV more flexible when traveling,and higher precision,while improving system stability and anti-interference ability.