CAJ | 학술논문

在食品车间使用自动导引车进行物料运输可以节省人力，避免运输中产生交叉感染。基于食品车间环境，提出一种自动导引车测控系统的设计方案。该测控系统由不同的模块组成，通过各个模块间的相互作用实现自动导引车的正确行驶及站点停靠。由于食品车间环境比较特殊，系统采用磁导航传感器和光电传感器对路径进行识别。并且叙述了使用Bang-Bang和PID相结合的控制算法在直流电机控制上的实现，以及模糊自适应PID算法在舵机控制上的应用。
재식품차간사용자동도인차진행물료운수가이절성인력，피면운수중산생교차감염。기우식품차간배경，제출일충자동도인차측공계통적설계방안。해측공계통유불동적모괴조성，통과각개모괴간적상호작용실현자동도인차적정학행사급참점정고。유우식품차간배경비교특수，계통채용자도항전감기화광전전감기대로경진행식별。병차서술료사용Bang-Bang화PID상결합적공제산법재직류전궤공제상적실현，이급모호자괄응PID산법재타궤공제상적응용。
Based on the speciaI food workshop environment,this paper proposes a design scheme of automatic guided vehicIe measurement and controI system.The system is composed of different moduIes.Through the interaction between each mod-uIe to achieve the correct driving and site automatic guided vehicIe parking.Because food workshop environment,the system adopts magnetic navigation sensors and photoeIectric sensors together to identify the path.The controI aIgorithms are impIe-mented using Bang-Bang and PID combination in DC motor controI,and the appIication of fuzzy PID aIgorithm in servo controI.