Research on AGV cart control system based on fuzzy PID control

Abstract

As an important carrier of intelligent logistics, AGV can effectively reduce the labor cost of factories and warehouses. With the comprehensive promotion of “smart manufacturing”, the manufacturing industry has a stronger demand for automated AGV logistics systems. This paper firstly analyzes the principle of fuzzy PID controller and establishes its kinematic model to obtain the intrinsic relationship between the motion form and the speed of each driving wheel. Secondly, through the data measured and fed back by the fuzzy PID control system, the AGV driving angle deviation and position deviation are used as the input of the fuzzy controller; its fuzzy deviation correction technology is applied to realize the path correction of the AGV and ensure the stable operation of the AGV through the cooperative motion control technology. Finally, MATLAB software establishes the joint simulation model of the AGV fuzzy PID control system. The results show that through the two algorithms of PID control and fuzzy PID control correction test, the fuzzy PID controller system corrects the deflection efficiency by 47.41%; in the kinematic test, the path tracking efficiency is increased by 30.76%, the distance correction efficiency is increased by 69.56%, the angle correction efficiency is increased by 69.56%, and the average performance is increased by 53.44%. Through the two comparisons, it is concluded that the fuzzy controller designed in this paper has the advantages of fast response speed, good stability, and strong deflection correction performance, which substantially improves the speed and accuracy of intelligent search of intelligent vehicles.

Keywords

• agv
• intelligent logistics
• fuzzy pid control
• deviation
• fuzzy correction
• 68t01