Improvements of direct current motor control and motion trajectory algorithm development for automated guided vehicle

Abstract

The precise control of the two-wheel independent drive motor speed of automated guided vehicle is the prerequisite for high-precision operation of its actuator. The optimization of motor control performance has been a topic of concern to researchers. First, the model identification of direct current motor is done. Second, there are two control strategies, including parallel proportional–integral–differential control strategy and the coupling proportional–integral–differential control strategy, which are researched and compared for the direct current motor control system of automated guided vehicle in dispatching the goods from one location to another with greater ease. Finally, the motion trajectory algorithm of automated guided vehicle is also proposed on the basis of kinematics theory. Besides, the above control strategies and algorithm improved for automated guided vehicle are simulated by the MATLAB tool and the experimental simulations by Kinect sensor, and the simulation results show that the coupling proportional–integral–differential control strategy is slightly better in controlling performance because of some smaller cumulative errors and the better start performance. Meanwhile, the motion trajectory algorithm of automated guided vehicle under both the control strategies can achieve different effects in different control cases.