Design And Implementation For Motion Control System Of Mobile AGV

With the development of automation industry and logistics industry,the quantity of goods needed to be transported in factories and warehouses is increasing.At present most of the goods is still handling by workers,such not only cause the workers work high intensity,low efficiency,high cost of choose and employ persons and lead to enterprise production,the serious influence the competitiveness of the enterprises.With the development of automation technology,the demand for wheeled autonomous mobile robots used in automated factories and logistics warehouses is also growing in order to gradually replace manual handling.This paper designs a fully autonomous mobile AGV(Automated Guided Vehicle)vehicle for the logistics warehouse of express company and the motion control of the AGV mobile vehicle is an important part to realize the task from starting point to target point.At present,the control algorithm of motion control in industry is mainly PID control.The PID is simple,but it has disadvantages such as low precision,poor robustness and slow response.In order to solve PID'shortcomings,this paper designs a sliding mode control algorithm for AGV based on system model,and take the AGV mobile vehicle motion control platform,and design the process of motion control soft program,and the experimental results showing that the sliding mode motion control algorithm is effective for speed tracking.This paper sets up the AGV mobile vehicle motion control system hardware platform according to the technical indicators and work task,including the design and selection of the hardware in the hardware platform and connection between hardware.Based on hardware platform for AGV mobile vehicle,we design soft scheme of motion control,including motion control software process design,ultrasonic anti-collision design,custom communication protocol between motion controller and industrial personal controller scheme design.The ideal input speed of brushless DC servo motor in the motion control hardware platform comes from the ideal speed that the industrial personal controller calculates by path tracking,however,the ideal speed that the industrial personal controller calculates by path tracking is the linear velocity and angular velocity of the center of the AGV mobile vehicle.In order to obtain the relationship between the ideal input speed of AGV mobile vehicle and the ideal angular speed of AGV mobile vehicle servo motor,the kinematics mode of AGV mobile vehicle is established.The core of the AGV motion control is the control of brushless DC servo motor.In this paper,a sliding mode motion control algorithm based on motor model is designed under the mathematical model of brushless DC servo drive motor.As for the sliding mode motion control algorithm,the stability of system is proved by usingLyapunov function and the feasibility of the sliding mode motion control algorithm is proved by MATLAB simulation.Finally,we prove the sliding mode control's efficiency,robustness properties and low chattering by experiment and the feasibility of the whole motion control system is verified by the measurement of repeated positioning accuracy of the AGV mobile car.