Design And Coordination Control Of AGV Car Based On Mecanum Wheels

With the rise of the robotics industry,the research on the effective movement of robots has gradually deepened.In order to solve the movement problem of mobile robot,the idea was proposed by making robots carry free mobile cars,which leads to the research on free mobile AGV concerned by domestic and foreign scholars.Steering control are difficulty for free mobile AGV,which requires high steering precision and reliability,and that affects the movement of robot seriously.The Mecanum wheel has the advantages of outstanding steering performance and large bearing capacity,which is possible to solve the problem.Aiming at the above problems,this paper designs a four-wheel mobile car based on Mecanum technology,and makes a breakthrough in key technologies of the design and coordination control of prototype car.This car can be used for mobile base of robot and mobile car for storage and logistics transportation.The car is driven by four Mecanum wheels with four DC motors,which are controlled by the vehicle coordination controller to realize the free movement of car.Firstly,the car design plan is determined based on the functional requirements analysis of the mobile car.The key parts are selected by the overall design plan of the car,and the three-dimensional map of the car is drawn according to the dimensions of the main parts,and the matching between car steering and Mecanum wheel rotation is listed.Secondly,the fuzzy adaptive PID control was used for the controlling of a single Mecanum wheel.The simulation model of the control system of drive motor was established using Matlab/Simulink,and the simulation of the control system was carried on.Then,based on a single motor control system,the models of parallel control,master-slave control,cross-coupling control,adjacent cross-coupling control and deviation-coupling control were established,and the different simulations were carried on to explore suitable mobile car control method.Finally,prototype car was made to verify the design,and the coordination control experiments were done to test the free mobile performance and endurance time of the car.