Research On AGV Based On Electronic Differential Speed

With the rapid development of the electricity supplier industry, the logistics industry, higher efficiency requirements, and automated guided vehicles(Automated Guided Vehicles, hereinafter referred to as AGV) logistics warehousing logistics to improve efficiency, reduce labor intensity, reduce production costs is important. They use existing AGV steering gear control trajectory, as well as by conventional mechanical means such as a reduction gear, differential and other drive motor, this structure not only increases costs, but also make the system control becomes complicated. To this end the herein Novel based on electronic differential and external rotation of permanent magnet brushless DC motor direct drive AGV. Electronic Differential steering control is based on the instruction received by the internal control, the speed of the outer wheel to achieve the AGV's all-electric steering, omitted conventional AGV servo steering servo and mechanical differential. Therefore, based on electronic differential speed AGV simplifies system power structure and improve the transmission efficiency, reduced system costs, and easy maintenance.This paper studies the electromagnetic structure of the outer wheel hub motor body optimized using finite element simulation software Maxwell on the pole groove engagement were optimized to give the outer wheel hub motor prototype structure; Secondly, AGV mainstream boot program principles discussed and comparative analysis, and design of the magnetic sensor with infrared obstacle avoidance sensor; again for article AGV functional requirements designed to TI's TMS320F2808 as the main chip, with Infineon's IKCM30F60 GA to power devices, the speed with Hall position sensor position detection element of the whole vehicle system controller; fourth, based on Ackermann steering geometry of the main control algorithm and control algorithm to compensate the slip rate based on the analysis and mathematical modeling, control and optimization of the model by fuzzy PI control, and built based on electronic differential speed control simulation model; fifth, abduction design 250 W brushless DC hub motor prototype and to prepare based on CCS3.3 electronic differential speed automatic guided vehicle logistics control program; and finally, the trial and the outer wheel hub motor the vehicle controller, and built the outer wheel hub motor vehicle steering and load test platform test platform, this platform on a series of experimental study, and were compared with the simulation results.Through the test results to verify the outer wheel hub motor design rationality and feasibility of this article electronic differential control strategy based on the automatic tracking function can be achieved, while the design of the existing problems and areas for improvement were discussed.