The Design Of AGV System Based On Embedded ARM Guided Control

With the development of modern flexible manufacturing systems, AGV(automated guided vehicles) has been used more and more widely. AGV is consists of the energy battery package, the non-contact sensor, control systems, security alarm, scheduling control module and so on. It can moved automatically according to the planning travel route, accomplish material delivery and other tasks. AGV has played an important role in the modern flexible manufacturing system, so it will be more significant to research it in-depth.This paper basic on the project of Shanghai Volkswagen, which product line need to be reconstructed, research and developed the AGV.Thesis mainly contain following aspects:1) Analyzes and explains the actual production line structure while AGV is working, set up the ideal kinematics based on differential steering motion model car. Calculating the relationship between the athletic stance and the speed of both drive wheels. They provide theoretical basis for the guided movement control. 2) Designed the general mechanical structure, the hardware and software of guided control system. Select magnetic tape as guide rote, apply the DC brushless of permanent magnet motor as the AGV drive actuators. Combined with the actual requirements, we designed the guidance control systems based on ARM7 architecture Cortex-M3 processors. For software, we selected segmentation integral separation PID control algorithm to control the motor, the simulated and test result showing that this is a more accurate algorithm. 3) Energy supply system, which called ‘multiple sets of microcontroller array smart partitioning' technology as well in this paper, it can monitor and manage the energy battery pack effectively.Meanwhile, we used intelligent automatic online charging devices to ensure AGV working ‘all day'. 4) Established the control system basic on UHF RFID, which used electronic tag for reader and decentralized scheduling of wireless communications networks. This system can realize wireless monitoring and communicated with AGVS use the PC. 5) Test AGV performance in the product line which AGVS applied. Through battery function test, speed test, route correction test, obstacle avoidance capability test and so on, all results show that the AGVs which developed in this paper can move along the planed route accurately, the response speed and stability can fit our requirement well.