Research On The Control System Of AGV Hook Cloth Car Based On Magnetic Navigation Super-long Body

With the development of the AGV navigation technology,the traditional textile industry adopts the method of cloth rolling transportation by manual pusher,which is bound to be replaced by AGV intelligent transportation.This topic originates from the school-enterprise cooperation project: "magnetic guidance automatic unfurling unmanned transport vehicle".In order to solve the problem of cloth rolling with large width,an ultra-long structure AGV cloth rolling cart is proposed.Different from the traditional two-wheel differential traction transport,this paper adopts the four-wheel differential two-way navigation control structure and the piggyback transport mode.Its long body structure effectively increases the distance between the front and rear steering units,and stabilizes the body swing like two fulcrum in the process of turning in the corner,which can effectively avoid the phenomenon of trailing steering and the large moment of inertia caused by the two-wheel differential piggyback steering.The research is mainly conducted from the following aspects:(1)according to the ultra-long body structure,the chassis gear system structure was analyzed to determine the four-wheel differential eight-wheel structure,and the universal wheel was used to share the rolling load;Design buffer differential steering unit structure,improve the traditional AGV rigid connection operation process of the large jitter;Analyze the functional requirements of AGV cloth trolley and design the mechanical structure of the whole vehicle.(2)analyze the AGV posture and attitude in the turning process of the curve,establish the AGV kinematics model,and calculate the speed relationship between the driving wheels.(3)The system function is divided by modular design method and the cooperative control is carried out by dual controllers.Design the hardware interface circuit between STM32 chip minimum system and peripheral functional modules;Draw control system function flow chart,design system hardware control circuit;Finally write the control system program and touch screen program.(4)design the motor speed fuzzy PID control algorithm,and establish a Matlab simulation model,comparison and analysis of conventional PID control and fuzzy PID control motor speed response control effect,through simulation and debugging,improve the optimization control algorithm.(5)carry out on-site differential rectification performance test and automatic landmark positioning performance test for AGV hook cloth car.