基於DSP之自動導引車路徑追蹤控制器設計與實驗

Abstract

本論文的目地在於發展自動導引車的路徑追蹤控制器,使自動導引車能準 確地在規劃好的路徑上運動.本論文分為三部份:(1)驅動部份.使用數位訊 號處理器(DSP)發展兩驅動輪之PID伺服控制器.(2)運動控制部份.以車體 的運動誤差模型,應用最佳控制的線性二次調節器,推導出路徑追蹤控制器 來消除自動導引車的運動誤差,使能達到準確控制的目的. (3)感測器部 份.除了軸編碼器,另外應用了與環境獨立的電子羅盤角度感測器,以卡爾 曼濾波器演算法,進行角度資料融合,藉估測自動導引車的角度來達到消除 因滑差所引起的位置誤差.經在實驗室之自動導引車上測試,以上設計皆達 到預期之效果. The purpose of this thesis is to develop a path tracking controller for anautomated guided vehicle (AGV).It can make an AGV move accurately on the desired path. There are three parts in this thesis : (1) Driving system.Using digital signal processor(DSP)as a controller,we design a PID servo controller at the lowest level of motion control system. DSP has floating point processor in chip. It has an ability for fast data processing and computation. (2) The designof a path tracking controller. A control based on the kinematics of vehicle is sloved by the method of linear quadratic regulator (LQR). The path tracking controller can be used to eliminate the tracking error. (3) Sensor. We use an electronic compass as well as encoders for angle detection. The Kalman filter algorithm is used to fuse data to estimate the angle. It can eliminate the position error of slippage.