Research And Design Of Omni-directional Vehicle Control System

With the rapid development of industrial automation flexible manufacturing system,in modern theater performance,it is necessary to quickly switch the scenery and props,carry on the platform,assist the performance,produce special effects and so on.The Omni-directional vehicle will become an indispensable stage mechanical equipment in the art performance.The Omni-directional vehicle system is an automatic guidance control system based on the environment perception,motion control and dynamic decision.It is composed of two parts which are the ground control system and the vehicle control system.The ground control system is mainly responsible for controlling the dispatch and path planning of the Omni-directional vehicle system,and the vehicle control system is mainly responsible for controlling the path guidance of the Omni-directional vehicle system.The topic of this paper comes from authorized item by public institution "laser guided Omni-directional vehicle control system".The emphasis is on the design and implementation of the vehicle system of the Omni-directional vehicle,and the specific work is as follows:1.To analyze principle of the Omni-directional vehicle system,to study the system structure of the Omni-directional vehicle in allusion to its operating environment,analysis and design the structure of the system,the peripheral equipment and the upper control system.According to the system composition and the actual need of the theater,the design index,key technology,mechanical design,orientation and drive mechanism design are determined.2.Based on the principle of the system,the vehicle control system of Omni-directional vehicle is studied.It is divided into seven subsystems: master control system,laser guidance and positioning system,wireless communication system,motion control system,human-computer interaction system,power management system and security protection system.The design of software and hardware of each subsystem is completed,and the overall design of vehicle control system of Omni-directional vehicle is finally completed.3.The principle and conditions of the laser localization algorithm for the Omni-directional vehicle are studied.The computational conditions of static and dynamic position and attitude,the static matching approach and dynamic matching approach of the reflector are analyzed in detail.On this basis,the calculation of the dynamic position and orientation of the Omni-directional vehicle to achieve theglobal localization of the Omni-directional vehicle,which is the basis for the automatic guided walking of the Omni-directional vehicle.4.After realizing the global positioning of the laser,according to the characteristics of the Omni-directional vehicle system,this paper studies deviation rectification control method of route guidance and tracking,and designs a fuzzy PID control algorithm based on the combination of fuzzy control theory and PID control algorithm as deviation rectification control algorithm of route guidance and tracking of the Omni-directional vehicle system.On this basis,the fuzzy PID control model of route guidance,tracking and deviation rectification is set up,the fuzzy control rules are defined,the parameters are determined according to the algorithm,and the simulation experiments are carried out by Matlab/Simulink.The results show that the proposed control algorithm have the good stability,fast the response speed.the practicability and reliability of the control algorithm are realized in theory.5.Through the field experiment,the whole design of the Omni-directional vehicle system is debugged and tested,and the obtained data are analyzed.The results show that the control strategy of the Omni-directional vehicle is obviously improved in the aspects of stability,accuracy and rapidity,which improves the control effect of the system and conforms to the design standards and satisfies control requirements of the vehicle system.