Research And Design Of Turning And Partial-correction Algorithm For AGV Based On Magnetic Navigation

With the development of China's economy enterprises of various production costs continue to improve, but Computer Integrated Manufacturing Systems (CIMS) provides a good solution for this problem. CIMS by a number of system components, including for material handling AGV (Auto Guided Vehicle, AGV) is very important. Currently AGV main navigation technology is laser navigation and magnetic navigation, laser navigation restrictions on the site is relatively large, and expensive, magnetic navigation is recognized as a very good AGV navigation technology,magnetic navigation is highly reliable and adaptable but magnetic navigation for failure prone to bias in partial-correction. This article studies the basis of operational control at country and abroad on the AGV, AGV navigation magnetic bias and turn partial-correction issues for further study.Firstly, analyzed the main application of magnetic navigation AGV technology, then analyzed magnetic navigation AGV related technical, according to the needs of AGV to select the magnetic signal sensor, and design sensor array, studied mounting the sensor, in order to further improve the accuracy of the magnetic navigation, designed around the double sensor.Finally, research and analysis how to select the source material of magnetic tape and magnetic,according to the project requirements for magnetic nail to design the optimize shape and size and study the tape and magnetic nail mixing laying methods.Secondly, research the magnetic navigation lateral offset detection algorithm, analyzes sources of outside interference in the actual project, and use the appropriate noise filtering algorithms to filter the interference of the geomagnetic field. In order to improve the detection accuracy of the amount of lateral shift, use the sequence the value of the ratio method algorithm to calculate lateral shift, since the method requires the data to determine the effective threshold value, thus the need for a large number of different locations of measurement,so that its adaptability is poor. To solve this problem,need to improve the algorithm, the algorithm is improved by calculating the ratio of the fitting laterally offset magnetic mathematical relationship, such that the uncertainty threshold algorithm lateral deviation detection and therefore the realization of the algorithm improve adaptability,it is not only received further improve measurement accuracy but also easier to implement.Thirdly, through the analysis of AGV's movement and its structural characteristics, this article established the AGV trajectory model, and simulate the model, simulation results show that the model can not only describe the straight running track AGV, and can describe the AGV steering wheel moment when change trajectory. Using this model analyzed AGV partial-correction and turning during partial trajectory, then planning the ideal trajectory calculated AGV partial-correction and turning processes. Through simulation, using the model turns and partial-correction planning can be a good track to complete the partial correction of partial and turning.Finally, because of AGV equations of motion is the non integrity constraints and nonlinear control model,so commonly used control methods are difficult to control AGV effectively,This article adaptive back-stepping sliding mode control algorithm running track to control AGVs tracking, the simulated results show that the algorithm is feasible.