激光AGV分段轨迹控制技术研究-物流工程专业论文.docxVIP

山东大学硕士学位论文3．4．2直线与圆弧段间轨迹方程及偏差模型 山东大学硕士学位论文 3．4．2直线与圆弧段间轨迹方程及偏差模型 3 1 3．4．3圆弧段间轨迹方程及偏差模型 35 3．5本章小结 39 第四章分段式AGv模糊控制器设计与实例 ．41 4．1模糊控制器设计 ．．41 4．1．1模糊控制算法概念及原理 41 4．1．2模糊控制器设计 42 4．2 DL企业AGVs物料搬运系统实例 ．46 4．2．1 DL企业物料搬运系统构成与平面布局 ．．46 4．2．2 AGVs物料搬运业务流程 ．47 4．2．3 AGVs物料搬运系统路径规划与设计 ．48 4．3实验与结果分析 49 4．4本章小结 一5 1 第五章总结与展望 53 5．1全文总结 ．．53 5．2展望 ．．54 参考文献 ．57 致 谢 。61 万方数据 山东大学硕士学位论文CONTENTS 山东大学硕士学位论文 CONTENTS ABSTRACT(Chinese) I ABSTRACT(En91ish) ．III Chap幢r 1 Imroduction 1 1．1 Research Back目．ound 1 1．2 AGV Definition aIld CategoU ．2 1．2．2 AGV Definition ．．2 1．2．2 Guidance Mode aJld DriVing Method 3 1．3 Presem ofI沁search and Application at Home and Abroad 。5 1．3．1 Domestic Present ofResearch and Application ．5 1．3．2 Present ofResearch and Application Abroad ．．8 1．4 Main Idea ofthe Thesis and Structure ofthe Thesis ．9 1．4．1 Main Idea ofthe Thesis ．．9 1．4．2 Structure ofthe Thesis ．．10 Chapter 2 Sin西e steering、Vheel LaSer AGV Composition and Analysis 1 3 2．1 Single steering wheel Laser AGV Composition ．13 2．1．1 CompositiOn 13 2．1．2 Vehicle Con仃ol System Constitution ．14 2．2 Single steering wheel Laser AGV Positioning Principle and Module Application ．1 5 2．3 Kinematics Model of Single Steering、研1eel AGV ．1 8 2．4 Summa巧 ．．21 Chapter 3 Segmented Control Guidance Modeling 23 3．1 Segmented Control Guidance Principle 23 3．1．1 Segmented Control Guidance P“nciple ．．23 3．1．2 AGV Reference Point and Angle 24 3．2 Line Tr萄ecto叫Equation aJld DeViation Model 25 3．3 Quanic EquaIion and DeViation Model ．27 3．4 Circular Arc Equation and DeViation Model． ．29 3．4．1 Circular Arc Equation Between two Lines and DeViation Model ．．29 3．4．2 Circular Arc Equation Between the Line and the Arc and DeViation Model ．3 1 ii； 万方数据 山东大学硕士学位论文3．4．3 山东大学硕士学位论文 3．4．3 Circular Arc Equation Between Two Arcs and DeViation Model ．．35 3．5 summary 39 1 Chapter 4 Se舯ented Fuzzy Controller