AGV Dual-wheel Speed Synchronous Control based on Adaptive Fuzzy PID

In the use of AGV, due to the load asymmetry, ground concave and convex and other reasons, will lead to the motor load imbalance, motor speed is not synchronized, and then affect the normal operation of AGV. Based on the modeling and characteristic analysis of the controlled object, as well as the comparison of the control performance, a synchronous control algorithm of AGV dual motors based on adaptive fuzzy PID is proposed. Combined with the cross-coupling control structure, the synchronous fuzzy control rules of dual motors are designed. The simulation results of single motor speed and torque control and double motor speed synchronous control show that the stability and anti-interference ability of the double motor system with adaptive fuzzy PID cross coupling control are improved obviously.