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介绍了一款自主引导的小车(AGV),主要阐述自主引导小车基于STC12C5A60S2单片机控制系统的组成;比较了常用PID控制和单神经元PID控制二种控制算法,用matlab对自主小车在蛇形通道上运行时小车的转角和速度进行了仿真,仿真结果证明通过单神经元PID对速度进行控制可使AGV得到更好的控制。
This paper introduces a self-guided car (AGV), mainly describes the autonomous guided car based on STC12C5A60S2 microcontroller control system components; compares the commonly used PID control and single neuron PID control two kinds of control algorithms, using Matlab on the autonomous car in the serpentine channel The running angle and speed of the car were simulated. The simulation results show that the AGV can be better controlled by controlling the speed of the single neuron PID.