Font Size: a A A

Research On The Design And Motion Direction Control Algorithm Of The Automatic Guided Vehicle In The Warehouse

Posted on:2020-12-20Degree:MasterType:Thesis
Country:ChinaCandidate:Y ChaiFull Text:PDF
GTID:2428330605468458Subject:Electrical engineering
Abstract/Summary:PDF Full Text Request
With the increasing popularity of online shopping,the number of express parcels increases.The traditional logistics operation mode of distribution center has a large workload,low efficiency and high cost.It is urgent to adopt the key technology of intelligent and automatic e-commerce logistics system to improve the ability of logistics business transportation.According to this background,an automated guided vehicle(AGV)is developed,which meets the working standard,to realize the automation of goods transportation and improve the utilization rate of warehouse.In this paper,the overall design of AGV is proposed based on the work requirements of AGV.AGV mainly consists of three systems: the power system with the battery as the power source,the mechanical system with the vehicle transmission,drive and steering as the main part,and the control system with the sensor information input,navigation and positioning,drive control and man-machine exchange as the main part.Based on the motion analysis of AGV,the mathematical model of AGV is established.At the same time,Adams is used to simulate the running state of AGV,which verifies the feasibility of the mechanical structure and provides a reasonable basis for AGV motion control.In this paper,the AGV working in the logistics center adopts the magnetic guidance technology.In view of the large deviation of the motion phenomenon and the path loss caused by the AGV magnetic guidance technology,the fuzzy PID compound control is proposed,and the fuzzy PID linear compound controller and the fuzzy self-tuning PID controller are designed.The above control algorithm and the traditional PID control algorithm are simulated and compared by Matlab / Simulink.Finally,the stability and effectiveness of PID are verified by simulation.At the same time,the development and design of AGV,hardware and software of control system,the validity of CAN protocol of control system are realized,and the effective controlof AGV by upper computer is compiled.The simulation results show that the AGV design scheme proposed in this paper is feasible and has certain reference value.
Keywords/Search Tags:Automatic Guided Vehicle, Magnetic Navigation, ADAMS Simulation, Fuzzy Control PID
PDF Full Text Request
Related items