A Design of AGV for Miniature Agricultural Transportation and Research on Piecewise Fuzzy Control

Li Jue; Zou Da-peng; Wang Gao-jie; Ren Yong

doi:10.12052/gdutxb.200178

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A Design of AGV for Miniature Agricultural Transportation and Research on Piecewise Fuzzy Control

更新时间：2026-05-27

- A Design of AGV for Miniature Agricultural Transportation and Research on Piecewise Fuzzy Control
- Vol. 39, Issue 1, Pages: 78-84(2022)
- 作者机构：
  
  1. 广东工业大学机电工程学院,广东,广州,510006
  2. 广东顺德创新设计研究院,广东,佛山,528000
  3. 广州柏创机电设备有限公司,广东,广州,511450
- 作者简介：
- 基金信息：
- DOI：10.12052/gdutxb.200178
  CLC： S24
- Published：2022
- 稿件说明：
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李诀, 邹大鹏, 王高杰, 任勇. 轻型农用运输AGV的设计与分段模糊控制研究[J]. 广东工业大学学报, 2022, 39(1): 78-84.

Li Jue, Zou Da-peng, Wang Gao-jie, et al. A Design of AGV for Miniature Agricultural Transportation and Research on Piecewise Fuzzy Control[J]. 2022, 39(1): 78-84.
李诀, 邹大鹏, 王高杰, 任勇. 轻型农用运输AGV的设计与分段模糊控制研究[J]. 广东工业大学学报, 2022, 39(1): 78-84. DOI： 10.12052/gdutxb.200178.

Li Jue, Zou Da-peng, Wang Gao-jie, et al. A Design of AGV for Miniature Agricultural Transportation and Research on Piecewise Fuzzy Control[J]. 2022, 39(1): 78-84. DOI： 10.12052/gdutxb.200178.

摘要

农用运输自动导引车(Automatic Guided Vehicle

AGV)

作为农业高效、绿色、自动化运输的机械设备

以其低成本、轻型化的设计

成为现代农业机械化的一个重要发展方向。为此

针对农业大棚环境

设计一款基于磁导航的农用运输AGV。对该AGV的运载力进行核算

确定其工作能力

结合设计的磁导航模块

对AGV进行了运动学建模。应用模糊PID控制算法

对AGV的驱动速度进行仿真与实验

结果表明AGV能够在4 s内完成速度的控制响应

并最终做到相对稳定运行

速度误差小于5%。设计分段模糊PID控制算法

对AGV的循迹导引进行仿真与实验

结果表明在不同驱动速度下AGV都能够调节与导航磁条的相对位置误差。稳定运行时

其相对位置误差保持在±7.5 mm以内。

Abstract

Agricultural transport automatic guided vehicle (AGV)

as a high-efficiency

green

automatic transport machinery and equipment

with its low-cost

miniature design

has become an important development direction of modern agricultural mechanization. In view of the agricultural greenhouse environment

an AGV for agricultural transportation based on magnetic navigation is designed. Firstly

the carrying capacity of the AGV is calculated to determine its working capacity. Then

combined with the designed magnetic navigation module

the kinematics model of the AGV is built. The driving speed of the AGV is simulated and tested by using fuzzy PID control algorithm

and the results show that the AGV can complete the speed control response within 4 s

and finally achieve relatively stable operation

with the speed error less than 5%. Finally

the piecewise fuzzy PID control algorithm is designed to simulate and experiment the tracking guidance of AGV

and the results show that the relative position error between AGV and navigation magnetic stripe can be adjusted under different driving speeds

and the relative position error can be kept within ±7.5 mm when AGV runs stably.

关键词

Keywords

references

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