Research Of The Electrical Control System Of SZ Stranding Cabling Machine

The automatic guided vehicle is also called AGV.AGV mostly uses magnetic navigation.Aiming at the characteristics of the navigation modes of different types of automatic guided cars in China,and referring to the foreign navigation way,a AGV without reflecting plate is developed.At present,the domestic AGV industry is gradually rising,and the research of AGV will further promote the intelligent and unmanned industrial production.The excellent performance of laser navigation AGV controller is an important link to ensure the flexible operation of AGV vehicle.Based on introducing the structure of laser navigation AGV car body,we develop and design the software and hardware of AGV controller.In order to ensure fast and stable operation of laser navigation according to a given path planning,we deeply studied the algorithm of path planning,and finally realized the control of laser navigation AGV.First,the paper describes the main structure and movement mode of AGV,and finally determines the four wheeled vehicle as the carrier of AGV frame.The typical movement mode of AGV is analyzed,and the typical motion equation of motion of AGV is deduced.Secondly,we designed the scheme of the AGV general control system which accords with the experimental requirements.We designed the control circuit with the STM32 minimum system as the control core,built the power main circuit by PWM control mode,and realized the hardware design of the laser guided AGV control system.Finally,the AGV controller software package is designed based on the ROS system software platform.The design and implementation of initialization subroutine,motor driver subroutine and obstacle avoidance subroutine are discussed.A path planning model is established,and an optimal path planning algorithm is selected for path planning,and the implementation of path planning is demonstrated through practical operation steps.