| With the development of the modern society, cars has already become a common transportation and came into thousands of families, the contradiction between nervous land resources and the vehicle volume is increasingly obvious. The limitations of the traditional parking equipment because of the limited space already cannot satisfy the growing demand for parking spaces, there are more and more stereo garages with high-tech and automation level pour into the market. Vehicle conveyor is the key to realizing the cars’ positions changeing as an important part of stereo garage. Now the whole uplifting vehicle carrier existing in stowed stereoscopic garage must lift vehicles off the ground completely to move, which must overcome the whole vehicle gravity to work. However we find that the front wheels of the car are still free to rotate when it is parking and the transmission is in neutral condition. For this kind of situation, a new kind of vehicle conveyors, the Single Axis Lift Trolley, was designed by people in our laboratory. When using this vehicle conveyors, the rear wheels of the car would be taken up only and the front wheel are seen as a strong point so that we can change the position of the vehicles with push-pull type. This article mainly research the motion control laws of this kind of conveyor, and develop the control system, on the basis of completing mechanical structure design.To study the dynamic characteristics of the front wheel steering limit mechanism and the lifting lever mechanism, simulation model is established based on the structural feature of the agencies by using the Adams software. At the same time, combining Adams and MATLAB/Simulink simulation software study the both mechanisms’ motion control laws. After building the models of rear wheel lifting mechanism, overhand qualified institution and the driving mechanism, MATLAB/Simulink software are used to research dynamic simulation and motion control law. Based on the motion characteristics of the mechanism, the appropriate control mode, control strategy and the installation position that can satisfy the control requirement of the hardware devices are selected and determined. After analyzed, PIC16F877 A chip is finally chosen as a controller, then complete the basic module of the controller, photoelectric sensor moduleã€increment circumrotation encoder module as well as the hardware circuit design of the motor driver and the interface distribution. Finally draw the flow charts of control programs for these five institutions and the software programs are written. Introduce about PWM module, the acquisition of implementation and velocity by the increment circumrotation encoder and the PI control strategy of the trolley in the lifting process. |
