| 引用本文: | 任永益,许军,陈永光.自导车激光导引控制系统研究.[J].国防科技大学学报,1991,13(2):39-44.[点击复制] |
| Ren Yongyi,Xu Jun,Chen Yongguang.A Research on the Guide and Control System of Laser Guiding AGV[J].Journal of National University of Defense Technology,1991,13(2):39-44[点击复制] |
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| 自导车激光导引控制系统研究 |
| 任永益, 许军, 陈永光 |
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(精密机械与仪器系)
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| 摘要: |
| 本文提出一种用于柔性加工系统(FMS)的自动导向车 (AGV) 导引控制系统。该系统不仅能导引直线运行，而且能控制转弯。当自导车沿直线行驶时，它由设置在地面的气体激光器发出的激光束导引，由最优线性调节器控制，当自导车转弯时，它由三束激光和角锥棱镜检测位置和方向，由模糊控制器控制。实验表明该导引控制系统可行，它将使 FMS 的物流系统具有更高的柔性度。 |
| 关键词: 柔性加工系统，控制系统，自导车，激光导引，最优线性调节器，模糊控制器 |
| DOI： |
| 投稿日期：1990-05-05 |
| 基金项目: |
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| A Research on the Guide and Control System of Laser Guiding AGV |
| Ren Yongyi, Xu Jun, Chen Yongguang |
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(Department of Precision Machine and Instrument)
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| Abstract: |
| This paper presents a guide and control system of laser-guiding automatic guided vehicle (AGV) applied to the goods transportation system of flexible manufacturing system (FMS). This system can not only run along a straight line，but also turn a corner. When the AGV goes along a straight line，it is guided by a laser beam shot by a gas laser on the ground，and is controlled by the optimal linear regulator. When it turns a corner，its position and direction is measured by three laser beams and corner cubes，and controlled by a fuzzy controller. Experiments show that the system is feasible and it will make the goods transportation system more flexible. |
| Keywords: flexible manufacturing system,control system,automatic guided vehicle,laser guiding,optimal linear regulator,fuzzy controller |
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