Title: Design and implementation of deviation rectification control model for heavy-duty automated guided vehicle

Authors: Shanshan Gu; Yekun Bi; Zhong Yang; Yizhi Wang; Weina Chen

Addresses: College of Intelligent Science and Control Engineering, Jinling Institute of Technology, Nanjing, China ' Communications Department, CETC LES Information System Co., Ltd, Nanjing, China ' College of Intelligent Science and Control Engineering, Jinling Institute of Technology, Nanjing, China ' College of Intelligent Science and Control Engineering, Jinling Institute of Technology, Nanjing, China ' College of Intelligent Science and Control Engineering, Jinling Institute of Technology, Nanjing, China

Abstract: With the development of automated guided vehicle (AGV) technology, aiming at the characteristics of heavy load AGV with large size and high load capacity, this paper studies the improved PID controller based on speed control to rectify the vehicle deviation. Firstly, the position and attitude of AGV are measured. Then the PID controller based on vehicle motion model is designed, and the incremental PID control based on integral separation is used to realise the vehicle deviation rectification. The best PID parameters are obtained by simulation experiment. And the real vehicle experiment demonstrates that the deviation rectification control model designed in this paper can meet the actual requirements.

Keywords: heavy-duty; automated guided vehicle; AGV; incremental; proportional integral derivative; PID.

DOI: 10.1504/IJMIC.2021.123488

International Journal of Modelling, Identification and Control, 2021 Vol.39 No.3, pp.236 - 244

Received: 04 Mar 2021
Accepted: 07 Jun 2021
Published online: 23 Jun 2022 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article