Design And Simulation Research Of AGV Control System Based On DSP

Warehousing industry is a place for AGV earliest application. AGV used toimplement an automated storage and handling. cargo Its distinguishing feature isunmanned, flexible, high degree of automation and high level of intelligence.AGV in the path of the desired track process, accurate, stable and fast tocorrect deviations and other parties and is an important indicator of the performanceof the AGV, body structure design and control method of AGV.AGV performanceis a key factor in the decision. AGV along a desired path in order to achieveaccurate, stable, fast driving and AGV real-time positioning and monitoring, theoverall objective of this project is to complete the establishment of AGV motioncontrol model, dynamic model, the use of modern control theory to complete fuzzyPID control AGV control and motion control experiment platform software andhardware design, analysis and development, conducted AGV motion analysis, amathematical model and motion simulation, complete the software design, conductexperiments AGV motion control.Kinematic model of the establishment to establish AGV AGV differentialkinematic model-driven steering, and kinematic analysis on the model. Establishbias and bias model model arc bend under the line tracking. Two-wheel differentialAGV tracking process, the mathematical expression wheel speed and steering angledifference. Solving the completion of the car movement kinematics and simulationmodel in SIMULINK. And the use of modern control theory, differential equations,controllability analysis conducted AGV sport model.Dynamic analysis on the AGV and as a basis for mathematical modeling.Establish the model of the motor rotation, and in order to improve the accuracy ofthe speed of the motor, the establishment of double-loop feedback loop, the innerloop current feedback, the outer ring using speed feedback. Step response model hasgood stability and fast. For the body to build the body, around the drive wheels,front casters mechanical model. In the SIMULINK model of structure. The controlsystem shown in Fig.Has been completed on the control system diagram of the position loopadaptive fuzzy PID controller that AGV can adapt to a more hostile environment,the case of non-linear interference. And the deviation of the speed difference fuzzyanti-blur. Establish the appropriate model in SIMULINK based on fuzzy inferencesystem. Rules fuzzy adaptive PID controller in the viewing window to see theoutput curve. And to create a package to the controller control system. AGVtracking error observed in the linear trajectory and circular trajectory，and designthe corresponding experiment, obtains the AGV in a straight line and curve track under deviation and driving wheel speed of data acquisition. Improved controlalgorithm according to the experiment, obtain ideal tracking results.