液压与气动2025，Vol.49Issue(6)：62-69,8.DOI:10.11832/j.issn.1000-4858.2025.06.008
重载自动引导车液压举升系统自动调平位置补偿模型与控制策略
Automatic Leveling Position Compensation Model and Control Strategy of Heavy-duty AGV Hydraulic Lifting System
摘要
Abstract
Aimed at the problem that it is difficult to levelling the lifting heavy-duty automatic guided vehicle and there exists the"floating leg"issue during leveling,a four-point support heavy-duty automatic guided vehicle hydraulic leveling system is designed and a position compensation mathematical model of hydraulic leveling system is established.The model consists of a highest-point chasing leveling mathematical model and a position compensation mathematical model.The highest-point chasing leveling model is used to execute the leveling process,and the position compensation mathematical model is used to solve the"floating leg"issue in the process.Based on the designed model,the conventional fuzzy PID control strategy is improved,and an enhanced fuzzy PID controller considering floating legs is proposed.A Simulink-AMESim co-simulation platform is built to validate the proposed strategy.The results show that compared with the conventional fuzzy PID method,the improved controller reduces the maximum tracking error of the lowest-point hydraulic cylinder by 86.59％,effectively alleviating the"floating leg"phenomenon.关键词
重载自动引导车/自动调平/改进模糊PID/虚腿/位置补偿数学模型Key words
heavy-duty automatic guided vehicle/automatic leveling/improved fuzzy PID/floating leg/position compensation mathematical model分类
机械制造引用本文复制引用
李霞,陈圣展,刘栋,蒋林森,刘本学..重载自动引导车液压举升系统自动调平位置补偿模型与控制策略[J].液压与气动,2025,49(6):62-69,8.基金项目
河南省重点研发及推广(科技攻关)项目(222102210051) （科技攻关）
