In the industrial working area, it is complex to predict any problems such as lift up and down the delivered goods. It may lead to unstable movement while automated guided vehicle tracks the trajectory. In this research, the implementation of Fuzzy Inference System in AGV to stabilize the tracking error under various loads conditions. In the experiment, AGV operates in a real industrial condition with variation of loads. The results indicate that vehicle can work well regardless of the carried loads.

Using Fuzzy Logic Scheme for Automated Guided Vehicle To Track Following Path Under Various Load

In the field of logistics, the storehouse management plays an important role. It is difficult to handle a large warehouse only with human. Therefore, the implementation of path tracking AGV robot is investigated as an automated solution. From the requirements of warehouse service, the hardware structure of robot is demonstrated in this work. Then, the software design is built to operate in real-time. Besides, overall system is scheduled to realize in various cases. The monitoring program in host PC will track the actual position of AGV along the trajectory. From the experimental design of AGV robot, the feasibility and capability of design and control approach which is proposed in this paper are proved.

Research and Develop of AGV Platform for the Logistics Warehouse Environment

Currently robotic motion control algorithms are tedious at best to implement, are lacking in automatic situational adaptability, and tend to be static in nature. Humanoid (human-like) control is little more than a dream, for all, but the fastest computers. The main idea of the work presented in this paper is to define a radically new, simple, and computationally lightweight approach to humanoid motion control. A new Proportional-Integral-Derivative (PID) controller algorithm called PID++ is proposed in this work that uses minor adjustments with basic arithmetic, based on the real-time encoder position input, to achieve a stable, precise, controlled, dynamic, adaptive control system, for linear motion control, in any direction regardless of load. With no PID coefficients initially specified, the proposed PID++ algorithm dynamically adjusts and updates the PID coefficients Kp, Ki and Kd periodically. No database of values is required to be stored as only the current and previous values of the sensed position with an accurate time base are used in the computations and overwritten in each read interval, eliminating the need of deploying much memory for storing and using vectors or matrices. Complete in its implementation, and truly dynamic and adaptive by design, engineers will be able to use this algorithm in commercial, industrial, biomedical, and space applications alike. With characteristics that are unmistakably human, motion control can be feasibly implemented on even the smallest microcontrollers (MCU) using a single command and without the need of reprogramming or reconfiguration.

PID++: A Computationally Lightweight Humanoid Motion Control Algorithm

In the high-accuracy control of an AC machine, the knowledge of pure system parameters, with no deviation in drive coefficients and no disturbance or other nonlinear components, is a difficult issue for operators, even though it is occasionally nonviable. To overcome these troubles, this paper introduces a robust adaptation strategy based on pseudo fuzzy logic and sliding mode control (PFSMC) for an AC servo drive subject to uncertainties and/or external disturbance. Owing to the robustness of the SMC technique, the reduced sensitivity to uncertainties, and the enhanced resistance to disturbances from the pseudo fuzzy mechanism, this control algorithm can guarantee not only system stability but also the improvement of tracking errors in the steady state. To validate the design efficiency of PFSMC, both simulation and laboratory tests of the proposed scheme and a conventional PID scheme were performed to compare them as follows. In a computer environment, test cases with and without certainties were implemented with two controllers to visualize the comparative responses. Then, the two control methods were integrated into a real-world hardware platform to acquire practical outcomes. From these results, it can be noted that our successful approach showed a feasible, effective, and robust performance in AC drive.

/pdf/improving-the-tracking-performance-under-nonlinear-time-2xxe05xbrm.pdf

Improving the Tracking Performance under Nonlinear Time-Varying Constraints in Motion Control Applications: From Theoretical Servo Model to Experimental Validation

A line-of-sight stabilised sighting system, capable of target tracking and video stabilisation is a prime requirement of any armoured fighting tank vehicle for military surveillance and weapon firing. Typically, such sighting systems have three prime electro-optical sensors i.e. day camera for viewing in day conditions, thermal camera for night viewing and eye-safe laser range finder for obtaining the target range. For laser guided missile firing, additional laser target designator may be a part of sighting system. This sighting system provides necessary parameters for the fire control computer to compute ballistic offsets to fire conventional ammunition or fire missile. System demands simultaneous interactions with electro-optical sensors, servo sensors, actuators, multi-function display for man-machine interface, fire control computer, logic controller and other sub-systems of tank. Therefore, a complex embedded electronics hardware is needed to respond in real time for such system. An efficient electronics embedded hardware architecture is presented here for the development of this type of sighting system. This hardware has been developed around SHARC 21369 processor and FPGA. A performance evaluation scheme is also presented for this sighting system based on the developed hardware.

https://publications.drdo.gov.in/ojs/index.php/dsj/article/download/14414/7081

Efficient Embedded Hardware Architecture for Stabilised Tracking Sighting System of Armoured Fighting Vehicles

This paper concerntrates on the analysis, design and control methodology in the machining servo system. The overall architecture of motion system is investigated to realize the drawbacks of traditional scheme. Then, this research proposes the suitable design of controller due to rapid calculation, high precision and friendly graphical user interface. The diagram of Fuzzy self-tuning PID and feedforward is constructed to drive the servo machine. The hardware platform of controller has been accomplised such as schematic, PCB artworks and soldering. Later, the middleware and firmware have been closed to promote the execution between controller and computer. The intelligent algorithm is embedded in board level by TMS320C6727 to overcome the problems, for example the existing nonlinear properties, external disturbances or servo lag phenomena. Based on the theoretical design, several simulation results are provided to verify the contributions. From the experimental performance, it can be seen clearly that this controller smoothly manipulate the servo motor, ensure real-time performance and high tracking position.

H.-A.-M. Tran

Papers

Experimental design of PC-based servo system