Research on Adaptive AGV Speed Control System Based on EKF State Estimation

In order to improve the speed regulation accuracy, dynamic response and operation robustness of an automatic guided vehicle (AGV) in a complex road disturbance environment, this paper studies an adaptive AGV speed regulation system based on EKF state estimation on the basis of AGV dynamics modeling and adaptive control. Firstly, through the electrical-mechanical coupling modeling of the AGV drive system, state space construction and external unknown disturbance equivalent design, a unified electromechanical coupling simulation and physical verification environment is built, which lays a model foundation for the research of the speed control algorithm. Secondly, based on the optimal control model of PID and LQR with first-order lead compensation, an EKF adaptive speed regulation model is constructed by combining the extended Kalman filter and adaptive control to realize the online estimation and dynamic compensation of unknown disturbances. Finally, based on MATLAB/Simulink simulation platform and the STM32 embedded experimental platform, the rationality and robustness of the proposed speed control strategy are verified by speed-mutation conditions, load-disturbance condition and a physical verification experiment. The results show that the overshoot of the EKF adaptive control strategy is only 1.8%, which is 84.1% lower than that of PID control and 61.7% lower than that of LQR control. The rise time is 42% shorter than PID and 23% shorter than LQR. The recovery time under load disturbance is 58% shorter than that of PID and 31% shorter than that of LQR. EKF adaptive control is significantly better than PID and LQR in overshoot, rise time and control stability. The disturbance rejection ability and dynamic recovery speed are greatly improved, which can ensure the high robustness and smooth operation of the AGV speed control system under complex working conditions, effectively enhance the response and compensation ability of the system to sudden disturbances, and better meet the actual needs of AGV speed control in complex engineering scenarios.