【摘要】 针对自动导引运输车（AGV）在工作现场易受到外界干扰的问题，围绕PID参数对控制系统性能影响机理进行研究，提出一种改进模糊PID算法。建立AGV的运动学模型，通过对比例、积分、微分部分的修正，弥补常规模糊PID的不足，提升控制策略的抗干扰性能。同时提出一种控制系统性能评估方法，对控制策略进行量化评价，在MATLAB的Simulink环境下将改进算法应用于模型，比较算法改进前后系统的性能，仿真结果表明，改进的模糊PID算法可以有效提高控制系统的抗干扰性能，增强了稳定性和实时性。更多还原

【Abstract】 Aiming at the problem thatAGV is easy to be interfered by the external environment in the working field,this paper studies the influence mechanism of PID parameters on the control system performance,and proposes an improved fuzzy PID algorithm.The dynamatic model of AGV is established,By modifying the proportion,integral and differential parts,the deficiency of traditional fuzzy PID is made up and the anti-interference performance of control strategy is improved.At the same time,a control system performance evaluation method is proposed to evaluate the control strategy quantitatively.In the Simulink environment of MATLAB,the improved algorithm is applied to the model,and the performance of the system before and after the algorithm improvement is compared.The simulation results show that the improved fuzzy PID algorithm can effectively improve the anti-interference performance of the control system,enhance the stability and real-time performance.更多还原