现代电子技术2017，Vol.40Issue(13)：144-147,4.DOI:10.16652/j.issn.1004-373x.2017.13.038
基于小型PLC的有轨小车寻线高精度控制数学模型设计
Design of high-precision control mathematical model for rail guided vehicle line tracking based on small PLC
摘要
Abstract
The rail guided vehicle transport mode based on laser tracking small PLC is put forward to improve its transport efficiency. The high-precision control design of the rail guided car is realized. By means of the characteristics that the laser rays send by laser generation appear different colors for different objects,the collected high-low level is input into the PLC system, and its switching value is coded. The stepping motor model,transmission mechanism model and vehicle line tracking model of the closed-loop vehicle steering system space state model were established. The GPC-PID control system combined PLC system with PID controller was established to control the vehicle dynamic process timely. The controller parameters are readjusted and set according to the change of dynamic performance. The increment of the system objective function is adjusted by means of GPC algorithm to ensure the accuracy of the rail guided vehicle line tracking based on small PLC. The experimental results show that the designed method can ensure the precision of the rail guided vehicle line tracking based on small PLC effectively.关键词
激光循迹/有轨小车/寻线/高精度控制/数学模型Key words
laser tracking/rail guided vehicle/line tracking/high-precision control/mathematical model分类
信息技术与安全科学引用本文复制引用
刘明明,刘志红..基于小型PLC的有轨小车寻线高精度控制数学模型设计[J].现代电子技术,2017,40(13):144-147,4.基金项目
河南省2017年科技发展计划科技攻关项目(172102210472) （172102210472）
