机械与电子2018，Vol.36Issue(5)：75-80,6.
基于神经PID带位置补偿器的AGV旋转平台随动控制
Servo-Control of AGA Rotating Platform Based on Neural PID with Position Compensator
摘要
Abstract
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.关键词
随动控制/神经PID/自动导引车Key words
servo-control/neural PID/automated guided vehicle分类
信息技术与安全科学引用本文复制引用
朱立群,楼佩煌,罗家文,钱晓明,张沪松..基于神经PID带位置补偿器的AGV旋转平台随动控制[J].机械与电子,2018,36(5):75-80,6.基金项目
江苏省重点研发计划项目(BE2016004-3) （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 （实验室）
kfjj20170513) （）
