Design And Realization On Motion Control System Of Port Intelligent AGV Based On DSP

Port transportation is facing the unprecedented challenge and opportunity because of the rapid development of domestic port transportation, which focuses on container application and logistics, so it is more and more important to research the automation of container transportation of port. In this way, the advantage of soft logistics transportation way which is based on AGV system can be seen. At present, AGV system has come into use in port transportation abroad, such as Europe Combined Terminals of Holland and Hamburger Hafen-und Lager-haus-Akitiengesellschaft of Germany. However, it has not been used in China, one reason is that the automation of China port transportation is weak, which continues to use the old traditional ways, it is hard to reform. The most important reason is that there is no AGV system of port transportation that suits China. For this reason, there will be strategic importance and a vase range of economic prospects to research economical, practical and highly technical port AGV system. Port AGV technology has many directions to be worth studying, the body machinery designs, drives way, navigation way, position and the managing software etc. Many universities and the studying organization has studied on each aspect at home and abroad, has got certain progressing, but has not still used in practice. So I research on structure of port AGV, drive way, move control system based on discipline building project, aimed to finish a platform of AGV move control, that apply for navaigation, position.This paper selects DSP as a microprocessor, designs a wireless remote control AGV experiment platform .It has four wheels. The two front wheels are drived by two DC motor separately, the two back wheels are Wan Xianglun, there are seven sonar sensors for measuring distance in the different angle around the automobile body. The rotary encoder can gain the speed and the direction of the wheels. Thus constitutes to a integrity AGV system that can accomplish the certain algorithm.In the hardware part, appropriate microprocessor is chose first according to the target, the modulation overall structure of control sysytem is designed according to the F2812 resources. I divides into the overall system six modules: the DSP minimal system, the motor-driven module, sonar collecting module, the wireless remote control module, rotary encoder module and PC monitoring. This paper introduces detaily the choice of component,supply of power and principle of work and so on by comninating character and chart.The corresponding software part completed by CCS3.1 development tool provided by TI company. The codes are completed including DSP initialization, EV initialization, serial port initialization, handling instruction received by remote device, receiving diatance value transmited by ultrasonic module and transmittin control instruction of AGV by serial port. The mathematical models of motion and dynamics are builded based on actual AGV preliminary. Finally we tests the performance by experiment in idling and load situation, which proves that electric circuit and the program achieves the anticipated plan.