Research And Design Of Rail Guided Vehicles Distributed Control System Based On ARM And FPGA

Warehousing is an indispensable part of the enterprise,the warehousing link plays an important role in logistics system for a long time,and its operation efficiency has been paid much attention.In recent years,the cost of automation equipment is getting lower with the progress of science and technology,and the concept of industrial automation is more and more favored by modern enterprise,thereupon automated stereoscopic warehouse emerged and gradually popularized.Automated warehouse is mainly based on rail guided vehicles(RGVs),stacking machine,conveyor belts and other automation equipment,according to the host computer scheduling instructions to complete the transport and access of goods.Compared with the traditional manual mode of operation,it has a huge advantage in operation efficiency,space utilization,investment efficiency,management cost and other aspects.RGV is more flexible and efficient compared with other handling equipment,by using distributed control system can realize the unified scheduling and management of up to hundred RGVs in the logistics warehousing system.It is of great practical significance to improve the performance of the shuttle control system,and has a broader prospects for development.In this paper,the RGV functional requirements of practical application are analyzed,and designs a set of RGV control system with ARM and FPGA as the control core from the perspective of improving the system efficiency and ensuring the reliability of the system.The FPGA is mainly used to realize the driving control of every RGV motor,the ARM is used to contact the host computer and FPGA to dispatch and manage the RGV motor according to the dispatching instruction of the host computer,and upload the information such as the running status of RGVs to the host computer.This paper firstly summarizes the current development situation of logistics RGVs,and the basic principles and control strategy of brushless DC motor control system.In view of the brushless DC motor control of the RGV,this paper uses the chopped voltage control with the double closed loop control based on position and speed,and verifies the feasibility of the control scheme through the simulation of MATLAB/Simulink.Then,considering the requirements of the control system,this paper chooses LPC2214 and EP2C20F484 as the core,and designs the control system core minimum system,motor drive,current detection,communication interface and any other hardware circuit.On the basis of the hardware design,the LPC2214 and EP2C20F484 control programs are designed by modular programming.Finally,the feasibility of this control system structure and design method is proved through the experimental verification.