Research on control strategy of electro-hydraulic proportional steering for container AGV

The container automated guided vehicle (AGV) is gaining prominence owing to its efficient operation. This paper presents an electro-hydraulic proportional steering system and cascade proportional-integral-derivative control strategy suitable for container AGVs. Mathematical models of key components and mechanical mechanisms were constructed, and parameters affecting response speed and stability were analyzed. A linear active disturbance rejection control (LADRC) strategy was proposed to improve the anti-jamming capability of the system. The effects of the two control strategies were compared based on multi-software co-equivalent simulation. Results show that in the 12 s period sinusoidal tracking experiment, LADRC improved tracking accuracy by 53.85% and reduced deviation amplitude by 85%, and the anti-interference ability was stronger. The proposed system and control strategy were tested on a bench and prototype vehicle. The passing ability and operational efficiency of the container AGV under complex road conditions were improved by the proposed method.