Research On The Control Strategy Of AGV In The Workshop

With the background of strategic by “industry 4.0” and "made in China 2025",due to the expansion of business types and scale,it is an inevitable trend for a locomotive factory in China to build an information-based,intelligent and automated intelligent manufacturing workshop.In the process of building intelligent manufacturing workshop,intelligent logistics plays a very significant part in this building process.In the material conveying system and flexible manufacturing system,the AGV of forklift has become the key of intelligent logistics because it has the characteristics of avoiding the disadvantages that traditional logistics haved.Therefore,as far as the process of researching the motion control of forklift`s AGV,how to improve it accuracy of navigation and tracking is the key factor to ensure the safe operation and work in the actual field.In this paper,the AGV of material transportation in the bogie intelligent manufacturing workshop of locomotive factory is taken as an example,the laser guidance is used as its navigation mode,and the reflector matching is used as the way of pose recognition.The design verifies the superiority of fuzzy PID in path tracking.The specific work contents are as follows:(1)Firstly,through the investigation of the actual intelligent manufacturing workshop,this paper introduces the structure and characteristics of the intelligent warehouse architecture and the tracking navigation system,the software and hardware composition and principle of the car navigation system,then the models and parameters of the main hardware are introduced,and expounds different modes of working and its corresponding functions of the vehicle as well.At the last,the software control flow of the car is analyzed.(2)Aiming at the guidance mode of forklift AGV,the motion coordinate system under its working condition is established and the transformation formula between different coordinate systems is obtained.Then the laser positioning algorithm and the matching principle of reflector are analyzed and introduced.According to the simplified geometric model of the forklift AGV,the kinematics model and the error formula in path tracking are deduced.Finally,the simplified model of the steering wheel motor is obtained.In order to prepare for the next step of the research on the vehicle motion control algorithm.(3)In order to eliminate the path tracking error caused by these non-ideal factor factors,the AGV tracking strategy is proposed : combine those controller to fuzzy self-tuning PID controller,which can erase the error of the car in the path tracking.and traditional PID control is compared by the Simulink tool module of MATLAB.Finally,through the joint debugging of MATLAB and v-rep platform to test the deviation correction effect of AGV in the actual working situation,the platform verifies the feasibility and effectiveness of the motion control algorithm designed in this paper.