摘要
电商用AGV灵活性和实现对货物位姿调节的关键是AGV旋转平台的随动控制,针对AGV小车旋转平台的随动控制问题,提出了基于BP神经网络带位置补偿器的AGV旋转平台PID随动控制算法。该算法以PID参数在线整定和自适应调节为基础,通过神经网络提高了旋转平台的PID控制对AGV底盘旋转的角速度跟踪的动态性能。同时,通过位置补偿器避免旋转平台在角速度跟踪时的角度误差积累,确保对角速度误差精准跟踪的同时,保持旋转平台的绝对朝向不变。
The key to the flexibility of the e commercial AGV and the adjustment of the position of goods is the servo control of the AGV rotating platform. This paper proposes a PID servo control algorithm for the AGV rotating platform based on BP neural network with position compensator. Based on the online tuning and adaptive adjustment of PID parameters, the algorithm improved dynamic performance of the PID control over tracking angular velocity of the AGV chassis rotation. Meanwhile, the position compensator was used to avoid angle deviation accumulation in angular velocity tracking, which can ensure the tracking accuracy and keep the absolute orientation of the rotating platform.
作者
朱立群
楼佩煌
罗家文
钱晓明
张沪松
ZHU Liqun;LOU Peihuang;LUO Jiawen;QIAN Xiaoming;ZHANG Husong(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Jiangsu Key Laboratory of Precision and Micro Manufacturing Technology,Nanjing 210016,China)
出处
《机械与电子》
2018年第5期75-80,共6页
Machinery & Electronics
基金
江苏省重点研发计划项目(BE2016004-3)
南京航空航天大学研究生创新基地(实验室)开放基金项目(kfjj20170510
kfjj20170513)
关键词
随动控制
神经PID
自动导引车
servo control
neural PID
automated guided vehicle
