Modeling,Simulation And Experimental Study Of Dual Drive Unit Automated Guided Vehicle Based On Trajectory Correction

With its many advantages,AGV has become one of the key technical equipment in the manufacturing and logistics industries,and it is an indispensable automation equipment for modern flexible production lines.As the technological level and manufacturing capacity of the manufacturing and logistics industries improve,the demand for handling large goods,precision modular parts,materials and other bulk goods also increases.New development direction of manufacturing.According to the investigation and research,the problem of the AGV path correction of the multi-drive unit is becoming a research hotspot of experts and scholars.In order to study and analyze the multi-drive unit AGV path correction problem,the dual-drive unit AGV is taken as the research basis to analyze the control method of the dual-differential drive unit AGV on path guidance and path correction.Through the fuzzy PID algorithm+magnetic navigation feedback technology,the AGV path correction capability of the dual drive unit is improved.By studying the path correction of the dual-drive unit AGV,it provides a research basis for the multi-drive unit AGV correction.According to the overall requirements and parameters of the AGV design,determine the drive unit wheel system structure and navigation system design principles;according to the characteristics of the designed drive unit,through analysis and induction of various types of motor drive control characteristics,finally determine the DC brushless motor as the drive motor and determine the motor Related parameters.By analyzing the principle of the differential drive unit,the speed regulation method of the drive motor is summarized and compared,and finally the PWM speed regulation method is determined for the differential drive unit.Through the determination of AGV's key mechanical structure and other hardware parts,it lays the foundation for the design of AGV's electronic control system below.For the dual-drive unit AGV differential control problem,based on the main controller control principles,navigation module principles,positioning technology principles,safety protection system design methods and other key technologies and theories,the dual-drive unit AGV electrical control methods and methods were developed,focusing on Solve the electrical principle design problem of AGV general control.Aiming at the technical problem of dual-drive unit AGV-assisted pan-tilt video,a lifting pan-tilt control system was designed,and a control structure based on a through-type stepping motor was established.By establishing the linkage technology between PTZ and AGV,the mechatronics control of PTZ and AGV is realized.Based on the theory and method of AGV differential correction for dual drive units,the structural characteristics of the AGV dual drive unit system are studied,and the relationship between the wheel speed of the drive unit and the deviation/deviation angle is studied.A mathematical model of the speed and deviation of the drive unit is established.The quantitative design of the correction algorithm is carried out to reduce the displacement deviation of the front and rear drive units.Simulation and analysis of the dual-drive element AGV correction system using fuzzy PID correction algorithm,the deviation change curve is obtained.Compared with the traditional PID correction algorithm,the simulation results show that the fuzzy PID correction algorithm is more effective in the control drive unit correction process Good,faster correction speed,laid a theoretical foundation for building experimental prototypes to improve correction efficiency.By building a dual-drive unit AGV experimental prototype,according to relevant national standards and error requirements,a comparative test method was used to test the experimental system model.The analysis of the experimental results shows that the AGV can correct the deviation to the allowable error range through its own control algorithm under continuous operation and sudden error changes,which meets the initial design requirements.The subject proposes a control correction solution for the dual-drive unit AGV path correction technology,establishes a mathematical model of the drive unit speed and deviation,and performs simulation analysis.The test of the AGV experimental prototype of the dual drive unit shows that the fuzzy PID control theory can be effectively used for independent and independent correction of the front and rear drive units,and the correction effect is good.