No Material Transportation System Design And Realization Of The Controller System

Great improvement of China's foreign trade environment, integration into the world of the postal service offers a variety of business opportunities. With the growing speed of the postal business, many small and medium-sized post office, the warehouse area is not big enough, the lack of human resources, to avoid this phenomenon is to build three-dimensional storage, automated transformation method. Three-dimensional storage, there is in the mail sorting mouth and between the three-dimensional library installed mail containers (small letter box, large container) needs to circulation. Sorting mouth acts as a loading point and unloading point two roles, if the container needs to shipped, you need the container removed from the three-dimensional database, sent to the loading point, while the introduction of unmanned transport vehicles to complete the carriage of mail containers the task is very appropriate. First of all, the truck can be more than the car at the same time work independently of each other, improve work efficiency, followed by less polluting, with the function of obstacles to parking and high security.This topic unmanned truck is battery-powered, body structure for the three differential steering type, driving the front wheels to the steering control. While the rear wheel of the caster to play a supporting role in Transporter systems use electromagnetic guided path sensor installed in the body in front of the winding inductance as the detection of path information to complete the role of guidance. Hardware design, system the MC9S12XS128 microcontroller as the master chip module design includes:the path detection module, the speed detection module, the motor drive module, obstacle avoidance alarm module, data transfer module, human-computer interface module. Control algorithm, the subject combination of characteristics of the truck control system, contains the path of the sensor loop detection path information, the information detected by the body offset angle and offset distance, and in accordance with the coupling relationship between the two, to determine the body the location of the gesture, combined with time optimal PID and fuzzy PID predictive control algorithm on the truck speed and steering control. In order to verify the feasibility of the algorithm and the step response of the identification method the motor object modeling, and simulation results reflect the superiority of the algorithm. Software design, the use of agent-oriented programming ideas to complete the design of the main modules and functions of sub-modules. The main module contains the initialization procedure, maintenance updates and management procedures; functional sub-modules include path information collection, speed control, steering control modules.System debugging, the final result, the design allows control of the transporter effect significant improvement in the system's reliability, stability, and fast has been further improved to meet the control requirements of the system.