Design Of Structure And Control For Two-wheel Difference Speed Steering AGV With Magmetic Navigation

With the development of flexible manufacturing system and flexible assembly system,automated guided vehicle (AGV) has been an important research topic in plant’smaterial management and transportation. AGV, a integrated product includingmechanics, electronics, computer science and information technology, has function ofreplacing human to carry materials and being the connection of stations throughout theplant to band the all production processes together. This paper relies on the jointprogram between our school and Huangshan Jinggong Gravure Cylinder Co.,Ltd—Structural and electrical control design of AGV in gravure industry. All the design anddescription in this paper is derived from the engineering practice.Based on the development history and statues of AGV at home and abroad, the keyproblems and the appropriate solutions in the research of AGV are discussed. Thegeneral design flow and program plan of AGV are proposed. Given the source programof this thesis, the mechanical structure and hardware circuit have been designed. Withthe theory of fuzzy control, the motion controller of AGV has been discussed anddevised. With Visual C++, a set of man-machine interface which performs onWindows-CE industrial tablet has been programmed in order to allow users to inputtheir commands and know the status information delivered by AGV. The ATmega128MCU made by AVR has been selected as the control core of the lower computer, and aset of control program has been designed for ATmega128. Finally, a large number oftests have been done with the prototype of AGV, and the results have been obtained.Through analysis of the results, the problems existing in the tests and some aspectsneeded to be considered in the process of design have been discussed.