Research On Laser Guided AGV Vehicle Controlsystem Based On CAN Bus

With the rapid development of industrial automatic warehouse and flexible manufacturing systems, AGV scheduling and distribution equipment as the core discrete logistics system, has been more and more widely used. AGV system includes a ground control systems and vehicle control systems, ground control system is mainly responsible for AGV system scheduling and route planning, vehicle control system is mainly responsible for the AGV automated guided operation and guiding positioning.For automated guided motion control and guide position and other problems of the vehicle control system, this article mainly from the following aspects were studied.Firstly, determine the overall design AGV vehicle control system, including the design of mechanical structure for vehicle and vehicle control, Introduced in detail the working principle of AGV each unit, completed hardware type selection and design, main unit software design process.Secondly, in-depth analysis of CAN bus technology and the CANopen protocol communication principle, combining with the AGV motion control system, establish AGV motion control CAN bus network, through the initial setup and debugging, the initialization process of motion control CAN bus network data objects(PDO), motion control CAN bus network Process Data Objects(PDO), Service Data Objects(SDO) test, the results show that between main controller and the movement control equipment can communicate properly.Thirdly, the analysis of working principle of the laser seeker positioning, AGV in a stationary state, using a laser reflection plate matching recognition and the principle of triangulation, AGV static positioning algorithm are obtained; AGV in a constant motion, analysis of AGV kinematics model, combined with the feedback speed and Angle, and through the position value computation, obtained AGV dynamic positioning algorithm, realize guiding AGV positioning.Finally, researched the AGV motion control direct path following correction algorithm, the fuzzy control theory combined with PID controller, and builded a direct path to the fuzzy PID control model of simulation system, defined the fuzzy control rules, using the Matlab simulation experiment was carried out on the control model, it is concluded that the fuzzy PID control system response speed, good stability, ensured the AGV on-board motion control system implementation and guidance position precision.