Structural Design And Motion Control Of Single Drive Bidirectional AGV For Sterilization Production Line

As the key link of sterilization production line,AGV(Automated Guided Vehicle)undertakes the important task of material transportation,reduces the cost of logistics transportation and avoids the contamination of sterilized products.At present,many kinds of AGVs have been developed on the market,but these AGVs generally only have the handling ability and do not pay attention to the automatic loading and unloading function.In addition,in the mode of tape guidance,the conventional single-drive bidirectional AGV has the advantages of simple control and low cost,but the stability of the trolley is not good,while the dual-drive bidirectional AGV has the shortcomings of complex control and high use cost.For this reason,an improved single-drive two-way AGV system is designed,and some research on the application of AGV used in automatic material delivery in production lines of the food and drug sterilization is done.(1)From the perspective of user's demand,the basic parameters that AGV needs to meet are given,and according to the requirements of parameters,an overall design scheme of AGV is determined.Firstly,the equipment selection of AGV is carried out,which mainly includes two aspects: one is the selection of mechanical structure of AGV,and the other is the electrical equipment,focusing on the selection of driving motor.At the same time,user's demand are also related to the following design of car body structure,motion control and system workflow.(2)The model of AGV is drawn by Creo three-dimensional drawing software.The function of each module and the assembly of components are explained in detail,and the working condition of AGV is further explained by an example.The clamping mechanism and the load-bearing wheel mechanism are introduced separately.Through the force analysis of the load-bearing wheels,the possible running state of the load-bearing wheels is analyzed,and the motion simulation of the load-bearing wheels is carried out by using the motion simulation module of Creo software,which demonstrates the rationality and feasibility of the structure design.(3)In the aspect of motion control,the deviation correction of the six-wheel differential drive AGV designed by the fuzzy PI control algorithm is studied emphatically.Firstly,the kinematics model of AGV designed is established,and then the path recognition and signal processing method based on moving window filtering are proposed.According to the data processed,a fuzzy controller is established.But this controller has steady-state error problem,so the PID algorithm is introduced.By combining the two methods,the fuzzy PI control algorithm is finally obtained.In order to verify the superiority of the fuzzy PI algorithm,a simulation experiment platform based on AGV kinematics model is built,and the fuzzy PI algorithm is compared with the fuzzy algorithm and the PID algorithm.The results show that the fuzzy PI control algorithm has better performance in correcting deviation.(4)In order to make AGV designed more accord with the practical needs of enterprises,the workflow of material transfer system is formulated based on the layout of production workshop.The software workflow of vehicle is formulated based on the working mode of AGV.According to the above workflow,the programming process and module parameter configuration process based on STM32 MCU are given.