Resesrch On Intelligent Rail Guided Vehicle Control System

With the rapid development of our national economy,the modern logistics technology developed rapidly.As a new kind of stereoscopic warehouse,automated vehicle storage and retrieval system(AVS/RS)has such characteristics as large storage capacity,strong expansibility and high storage efficiency,which made the management of warehouse and logistics transportation more simple and flexible.Intelligent rail guided vehicle was the core equipment in AVS/RS,and its working efficiency influences the whole warehouse's efficiency directly.Therefore,the study of the RGV's stability,efficiency and intelligent control system was very important.This paper researched the deficiency of the RGV control system by the analyzing of the RGV in the application of stereoscopic warehouse,and analyzed the control functions according to the requirements of RGV.The control system of RGV was studied and designed by using PLC as the main controller,including PLC,all kinds of sensors,power supply module,motor drive module,wireless communication module and the RFID system.The modules of the control system were respectively researched.The warehousing operation was completed by the coordination between each modules.The intelligent RGV traveling motor speed control algorithm was analyzed.The setting of the RGV traveling motor's positions was achieved through using the speed and displacement double-loop control method.A new type of S-shaped speed deceleration curve control was adopted,which simplified the control algorithm,meet the control requirements of starting smoothly,fast and accurate positioning,and ensure that the vehicle in the different Operating distance implement different S speed curve control.The intelligence and adaptability of the vehicle was improved through fuzzy optimal control method.The RGV can identify different loading conditions(cargo weight,height)to obtain different optimal speed,thus greatly improved the working efficiency of the vehicle.Making comparisons of the S speed curve simulation under different cargo status by using Matlab/Simulink.Finally,the intelligent RGV traveling motor control algorithm was analyzed.The vehicle traveling motor selects BLDCM.The speed and torque double closed loop control method was adopted to motor speed control,in order to meet the requirements of the speed control precision and the S speed curve control.The torque ripple of the BLDCM was analyzed,the speed loop adopted PI control,and the torque ripple control algorithm was improved by comparing the torque ripple under the normal conduction and commutation,then the hardware system control scheme was introduced.At last,by comparing the traditional double PI control algorithm speed and the torque double closed loop control algorithm by using Matlab/Simulink,the conclusion was achieve as the speed and torque double closed loop control algorithm can greatly improve the response speed,and the steady-state performance of the motor can meet the vehicle control requirements.