| As an important transportation device in modern logistics industry,AGV has become a research hot spot in the field of automation.In order to solve the transportation problems for enterprise,this paper aims to design the control system for a latent towing double drive two-way AGV.The main research contents include the following aspects:1)On the basis of double drive two-way AGV prototype,this paper designs a general planning on it.Because AGV has two independent driver modules,increasing the difficulty to turn,so its kinematics was analyzed and simulated by ADAMS,and its turning path was analyzed emphatically.2)The hardware control system overall scheme of double drive two-way AGV was designed,then the hardwares of the control system were selected and designed,its electrical schematic diagram and vehicle control system were designed.3)The software control system overall scheme of double drive two-way AGV was designed at first.Then the autonomous guidance algorithm,real-time rectification algorithm and towing algorithm were developed according to the kinematics and software flow charts.The software control system was developed by using VC++ programming language.At last,the software control system of latent towing double drive two-way AGV was designed.4)The accuracy of parking,speed ability,towing capacity and preliminary stability of AGV were tested by designing the experiment platform.Then this paper verifies the various performances were satisfied with the requirements by testing the initial design index of double drive two-way AGV.This paper has completed the control system design for latent towing double drive two-way AGV,laying the foundation for engineering application of AGV. |
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