| With the successive development of industrial development strategies such as Industry 4.0 and “Made in China 2025”,intelligent manufacturing has become an inevitable trend in the future development of manufacturing.Intelligent logistics is one of the most important aspects of intelligent manufacturing.As typical logistics transportation equipment,AGV is very important for the realization of intelligent logistics to improve its logistics service capability and efficiency.At present,most of the AGV adopt the traditional driving method,and the turning radius is too large,accompanied by the problem of insufficient steering capability or excessive steering,which will reduce the space utilization and reduce the work efficiency to some extent.In addition,some AGV will turn along with the car body during cornering.Under the action of centrifugal force,the cargo may shift and the vehicle may overturn.Therefore,in the context of fully considering the existing warehouse layout and AGV development trend,this paper designs a new type of AGV,which can not only follow the track smoothly,but also realize the right angle turn when the body and the cargo are not moving.Around the AGV,this paper will study from the following aspects:Firstly,the mechanical structure of the AGV is designed based on the analysis of the overall design requirements of the AGV.The guiding method for designing the AGV is magnetic strip guiding;the mechanical structure of AGV is designed in detail.The transmission scheme is designed from two aspects of walking mechanism and steering mechanism;and the key mechanical structure is designed and calculated.Based on the design settlement results,the relevant parts of each organization are modeled reasonably,and the strength of key parts is analyzed and verified by ANSYS software,so as to ensure that the actual use needs can be met.Secondly,the control system is designed according to the actual functional requirements and the characteristics of the mechanical mechanism.The control system mainly includes six functional modules: information acquisition module,main control module,walking control module,steering control module,power supply module and communication module.At the same time,the hardware of each module is selected and designed,and the required software is designed and developed to realize the functional requirements of AGV straight line walking and right angle turning from the control level.Third,study the AGV trajectory tracking control method.Analyze the source of the trajectory tracking error of the AGV and establish a kinematic model.On this basis,the trajectory tracking control algorithm based on fuzzy PID control is studied emphatically.With the help of MATLAB/Simulink toolkit,the fuzzy PID control algorithm and the conventional PID control algorithm are simulated and compared to verify the effectiveness and feasibility of the trajectory tracking control algorithm.Finally,the prototype of AGV is manufactured and experiments are carried out to verify the straight-line walking and right-angle turning effects.,and the path correction effect of AGV under the fuzzy PID control.The results show that the designed AGV not only meets the design requirements,but also can achieve better trajectory tracking. |
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