Research And Realization Of Automated Guided Vehicle Control System

Automatic Guided Vehicle (AGV) is a kind of equipment that powered by storage battery and is controlled by automatic guided device and computer control system. It can move along the needed path and achieve the function of material carrying. Most of the widely used control algorithms in traditional Automatic Guided Vehicle control system is the classical PID control method, the problems of which include the inconvenience of PID parameter adjustment, the weakness of anti-disturbance, the poor ability to adapt time-varying objects, etc.To solve these problems, we researched and realized the Automatic Guided Vehicle control system in this paper. The Automatic Guided Vehicle is hinged-shaft steering type with four wheels, the rear wheels are driveled by direct-current motor and the front wheels are controlled by steering gear. The path is guided by electromagnetic signal, and detected by the winding inductance. The system's main chip is MC9S12XS128 microcontroller which widely used in automotive electronics. On the basis of that, we designed hardware circuit as follows: path detection module, speed detection module, steering gear control module, motor driver module, obstacle-avoidance alarm module, data transmission module, human-machine interface modules, etc. Combining the characteristics of the Automatic Guided Vehicle here, this system detects the offset angle and offset distance of the vehicle. According to the coupling relationship between the two to determine the position and posture of vehicle, this thesis adopts time optimal PID and fuzzy adaptive PID control algorithm, respectively implements steering and speed control, and the latter is simulated. Software design of the system adopts the agent-oriented programming idea. It's divided into the main module and the functional sub-modules. The main module contains the initialization procedure, maintenance updates procedure and management procedure; functional sub-module contains the human-machine interface, data transmission, path detection, time optimal PID, fuzzy adaptive PID procedure, The whole system is tested and the test data is analyzed. The results show that, by using this control system, the performance can be significantly improve, the reliability, stability and speed can be further improved to meet the control requirements of the system.