Research On Logistics Warehousing AGV Control System Based On DSP

With the rising of people's living standard,electric commerce continues to penetrate into all areas of people's lives,while the aging of the people is becoming more and more serious and the sharp decline in the manufacturing industry,which highlights the advantages of AGV system in warehouse logistics competition,and forces enterprises to upgrade storage equipment.AGV is the abbreviation of Automated Guided Vehicle,which is “ automatic guided transport vehicle ”.In order to solve the problem of large size and high cost of domestic storage system,this paper presents an AGV car based on DSP logistics warehousing system.The AGV car uses F28335 main control core to complete the basic functions of cargo handling in logistics warehouse.The main contents are as follows.1.According to the system design requirements,the overall design of the AGV is proposed,including AGV vehicle equipment,tracking and positioning system,vehicle control system,dispatching system,transfer device and safety system.2.The electric-gas principle diagram is drawn and the hardware circuit module is built,including: power supply module,DSP minimum system,motor drive module,trace module,ultrasonic obstacle avoidance module,site identification module and cargo handling module.3.Firstly,the system is required to be stable and not lost in the process of frequent start and frequency abrupt change.The motor speed-up and down algorithm of "S" type is selected.Then,for the measurement noise and process noise in motor speed measurement,and improve the adaptability of speed regulation,the mathematical model of Kalman filter and fuzzy PID controller is established.Then,a linear deviation guidance model is established for the deviation of the car body from the orbit during the tracking process,which improves the rectification ability of the system.Finally,the main program of the system and the subroutines of each function module are written,and the overall software debugging of the system iscompleted.4.According to the stability and consistency of the system speed regulation,the double motor speed research is carried out.The results show that the PWM frequency is set to 2.5kHz,which is the most suitable for the dual motor to reach the rated speed.At this time,the double motor speed deviation is minimum and stable.The cargo handling experiment was carried out for the system transfer device.The results show that the AGV control system basically realizes the function of cargo handling in the logistics warehouse;Aiming at the safety device of the system,the detection of the obstacle avoidance distance accuracy is carried out.The ultrasonic ranging system corrects the sound velocity by collecting the ambient temperature in real time,and uses the wavelet threshold transform algorithm to process the echo signal,which improves the signal-to-noise ratio and the starting point sharpness of the echo signal.The experiment shows that within the distance of 0-1200 mm,the measurement error of the system is ±4mm.The superiority of wavelet threshold transform algorithm applied to ultrasonic echo signal denoising is verified,which ensures the safety of AGV control system in warehousing logistics.In this paper,the basic design principle of AGV control system is analyzed and researched,the whole hardware circuit module is designed and built,and then the mathematical model of the key function module is built and simulated.The control program is designed according to the basic principle of each module and the simulation results of the model.The experimental results show that the AGV control system designed in this paper realizes the basic functions of automatic driving,cargo handling and avoiding obstacles safely,which accords with the expected requirements.