Control Method Research And Controller Development Of AGV Based On DSP

Automatic Guided Vehicle (AGV) is typical logistics transportation equipmentcombined with the technology of optics, mechanics and electronics. Its application inAutomatic Storage&Retrieval System (AS/RS) and Flexible Manufacture System(FMS) greatly reduces cost and time of logistics transportation. In this paper, wefinished software and hardware development of AGV control system which is low costand suitable for laboratory use. And further more, we finished the control methodresearch and corresponding experimental research of AGV automatic guiding control.DSP chip of TMS320F2812type from TI Company is choosed as main controlchip in this control system, for its integration with module of AD, QEP, and PWM,which can greatly simplify the circuit design and improve its stability. What’s more, wedesigned PWM driver, wireless communication module, infrared obstacle avoidancemodule and station detection module in modular design way. We fininshed the softwaredevelopment at the same time in the way of interrupt service routine (ISR) to improveits operating efficiency.AGV automatic guiding control system is a typical nolinear time-varying one. Inthis paper, a double closed-loop control method that adopts fuzzy control in positionclosed-loop control and PID control in speed closed-loop control was proposedaccording to the characteristics of this system. To finish the parameter setting andsimulation of the control method, we build the model of AGV automatic guiding controlsystem in Simulink, which take the power coupling problem of two driving motors in toaccount.In the end, we fixed each module of the hardware circuit of the control system ontothe AGV mechanical entity and finished its software on-line degugging, and then paveda guiding route to simulate the live environment. On the basis of this experimentalplatform, we firstly finished the performance test of the designed control systemhardware and software, which includes speed test, weight capacity test, correctionability test, minimum turning radius test in different speed and test of infrared obstacleavoidance module, wireless communication module and station detection module. Andthen we finished the experimental research compared with single position closed-loopcontrol method and double closed-loop control method with both PID controllers. Theexperimental result shows that compared with the former jammed phenomenon andsteering force insufficience are avoided and compared with the latter the concussionswing phenomenon is reduced and the correction speed is improved.