대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

2자유도 PID 제어기를 이용한 AGV의 조향 제어에 관한 연구

A Study on AGV Steering Control using TDOF PID Controller

  • Lee, Gwon-Sun (Dept.of Electric Electronics Computer Engineering, Donga University) ;
  • Lee, Yeong-Jin (Dept.of Electronics Engineering, Donga University) ;
  • Son, Ju-Han (Dept.of Electronics Engineering, Donga University) ;
  • Lee, Man-Hyeong (Dept.of Mechanical Engineering, Busan National University)
  • 발행 : 2000.05.01
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초록

Until now, all of the port goods are transported manually by container transporter in the port. Recently there are a lot of studies about unmanned vehicle driven automatically. In terms of the vehicle automation, the control of steering and velocity on vehicle systems is very important part in container transporter. In common sense, vehicle systems have lots of nonlinear parameters so we have many difficulties in designing the optimal controller of them. In this paper, we present a design of the TDOF PID controller using a hybrid schematic algorithm to control the steering system optimally. We used the single-track model to pre-test the designed controller before appling to AGV. We also used the ES(evolutionary strategy) and SA(simulated annealing) algorithms to construct the hybrid tuning algorithm for parameters of controller. Finally, we had the computer simulation to verify that our designed controller has better performance than the other one.

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참고문헌

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