Journal of Guangdong University of Technology ›› 2022, Vol. 39 ›› Issue (01): 78-84.doi: 10.12052/gdutxb.200178

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

Li Jue1,2, Zou Da-peng1, Wang Gao-jie2, Ren Yong3   

  1. 1. School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China;
    2. Guangdong Shunde Innovative Design Institute, Foshan 528000, China;
    3. Guangzhou Baichuang Electromechanical Equipment Co., Ltd., Guangzhou 511450, China
  • Received:2020-12-30 Published:2022-01-20

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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.

Key words: automatic guided vehicle (AGV), magnetic navigation, PID, fuzzy control, agricultural transportation

CLC Number: 

  • S24
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