The Research And Design Of AGV Positioning Guidance And Control Software System

AGV is a typical wheeled mobile robot,which combines mechanical,optoelectronic,computer,control,instrument and other disciplines in one technology,therefore,it has the advantages of high automation,safety and reliability,flexible application and so on.Because of these advantages of AGV,it is more and more widely used in automatic production workshop and modern logistics system.The use of AGV to build automated logistics system can greatly improve the production efficiency,therefore,the AGV research has profound theoretical and engineering practice guiding significance.Positioning guidance accuracy and motion control performance are the core evaluation indexes of AGV performance.In order to improve the positioning accuracy and motion control performance of AGV,this paper investigates a large number of domestic and foreign AGV literature,and taking the two wheel differential drive AGV as the research object,makes a deep theoretical analysis and research on the key problems such as kinematics,positioning guidance and motion control,the main contents are as follows:1.This paper introduces the general requirements,the working process and the design process of the drive system of AGV,through the calibration of three coordinate system of AGV motion,the AGV pose representation and transformation relation in each coordinate system is deduced,thus,the kinematics modeling and analysis of AGV are completed.According to the general scheme,the hardware scheme of AGV positioning guidance system is introduced,and the guidance algorithm is designed,and the relative positioning and absolute positioning algorithm are designed respectively.Finally,the two parts of the positioning data are merged by the adaptive weighting algorithm.2.The comprehensive study of AGV motion control is carried out,then the motion control law is designed according to the Lyapunov theory and simulated by software MATLAB.Then the precision evaluation model,dynamic characteristic evaluation model and comprehensive characteristic evaluation model are designed,which are to evaluating the effect of the control law.Finally,analyzed the influence of the control law parameters on the motion control,and put forward the sliding mode genetic algorithm,then take the evaluation functions as the fitness function to optimize the control law parameters,and then the motion performance of AGV before and after optimization is compared,which proves the importance of parameter optimization.3.The upper and lower computer software of AGV control system is designed.On the one hand,through the analysis of the development environment of the lower computer,and designed the AGV main program and Human Machine Interface of the upper computer software based on TwinCAT PLC development language.On the other hand,divide the functional module of the upper monitor.Using Visual Studio software as the host computer software development platform,then use XAML as the interface language and C# as the background design language,thus completing the design of WPF PC software platform.Finally,the communication scheme of the host computer and the lower computer software is designed.Through the debugging of the control software,the communication and data transmission between the host computer and the lower computer are realized,and the functions of each function module are tested,thus,completing the software design and realization of control system.