摘要自动导引车(AGV)是指装备有电磁或光学等自动导向设备，能够沿规定的导向路径行驶，在一位置自动进行货物的装载，自动行走到另一位置，自动完成货物的卸载，并具有安全保护以及各种移载功能的全自动运输装置。自动导向车系统（AGVS）是采用先进控制技术的现代物流设备，具有灵活性、高效性和智能化，其运动需要有一定的位置精度和姿势要求，我们可以通过在计算机上的仿真研究，来确定行走路线，以达到最优效果。本课题主要对舵轮型和差速式AGV直道前进、后退以及弯道前进、后退进行建模，并且通过MATLAB的Simulink仿真方式对舵轮式AGV进行运动仿真,并借助 Nichols图协助仿真。通过Matlab中的Simulink的仿真我们可以得到系统的稳定性，响应时间，超调量等性能指标，最后结合Nichols图详细地分析了不同参数的影响。最终得到合适的参数范围，使系统达到优化。50276

毕业论文关键词：AGV；建模；仿真；Matlab;

Abstract AGV(Automated Guided Vehicle) is refers to have the electromagnetism or optics and so on pre-computed course equipment, It can along the stipulation guidance way travel, carry on the cargo automatically on a position the loading, walks automatically to another position, completes the cargo automatically the unloading, and It also  has the safekeeping of security as well as the completely automatic conveying arrangement with each kind moves carried the function. AGVS(Automatic Guided Vehicle System)  is the modern physical distribution equipment which uses the advanced control technology, it has the flexibility, highly effective and the intellectualization. Its movement needs to have certain position precision and the posture request, we may through on computer's simulation research to determine the route, and achieves the most superior effect finally. The article carries on the modelling to the steering wheel and the difference fast -like AGV straight road advance, the backlash as well as the curve advance, the backlash. It also carries on the movement simulation through the MATLAB Simulink emulator mode to steering wheel type AGV, and draws support from the Nichols chart assistance simulation. We may obtain system's stability, the response time, over adjust quantities and so on performance indices through the Matlab Simulink simulation, finally unified the Nichols chart to analyze the different parameter influence in detail. It can obtain the appropriate parameter area finally, enables the system to achieve the optimization.

Keywords: AGV; modeling ; simulation ; Matlab .

目  录

第一章 绪论---1

  1.1 AGV概述 1

    1.1.1产生的背景 1

    1.1.2 发展状况 2

    1.1.3 特点和应用行业 2

  1.2 AGVS结构组成 5

  1.3本设计仿真研究的意义 7

  1.4小结 8

第二章 自动导引小车的类型及导引技术 9  

  2.1 AGV的类型划分 9

  2.2 电磁导引原理 9

  2.3 自动导引小车底盘结构 10

  2.4导引分岔方法 12

  2.5 小结 13

第三章 车体的数学模型-14

  3.1 舵轮型AGV的数学建模 14

    3.1.1 AGV前进运动模型 15

    3.1.1.1 直道前进模型