【摘要】：我國(guó)是工業(yè)雷管生產(chǎn)使用大國(guó),而我國(guó)的工業(yè)雷管生產(chǎn)設(shè)備普遍較為落后,自動(dòng)化程度低。從原料配送、電雷管裝配、半成品轉(zhuǎn)運(yùn)到成品回收存在大量的手工作業(yè)和半機(jī)械化作業(yè),然而由于無(wú)論是構(gòu)成工業(yè)雷管的起爆藥、傳爆藥、主裝藥還是成品工業(yè)雷管都異常敏感,靜電、摩擦、撞擊都可能引發(fā)爆炸,直接對(duì)操作工人人生安全構(gòu)成威脅。本文針對(duì)民爆行業(yè)電火工品生產(chǎn)及物流過(guò)程中的高敏感性和高危險(xiǎn)性,結(jié)合國(guó)內(nèi)外相關(guān)領(lǐng)域的發(fā)展與特性,開(kāi)展對(duì)適用于民爆行業(yè)AGV自導(dǎo)引小車(chē)的研究。本文詳盡介紹了AGV自導(dǎo)導(dǎo)引小車(chē)的分類(lèi)、結(jié)構(gòu)、研究現(xiàn)狀及其工作原理;針對(duì)民爆行業(yè)電火工品易燃易爆的敏感特性,對(duì)適用于民爆行業(yè)的AGV可行性進(jìn)行分析;根據(jù)天線(xiàn)工程及電磁脈沖等相關(guān)理論,建立了電火工品感應(yīng)電流模型,并計(jì)算了其在無(wú)線(xiàn)數(shù)傳模塊DTD433模塊工作電磁脈沖環(huán)境下產(chǎn)生的感應(yīng)電流;建立了AGV系統(tǒng)運(yùn)動(dòng)學(xué)模型和系統(tǒng)控制模型,根據(jù)模糊控制基本原理,設(shè)計(jì)了軌跡跟蹤模糊控制系統(tǒng),并結(jié)合Matlab Simulink工具對(duì)所設(shè)計(jì)的AGV軌跡跟蹤模糊控制系統(tǒng)進(jìn)行仿真,結(jié)合小車(chē)實(shí)際跟蹤曲線(xiàn)與導(dǎo)引曲線(xiàn)對(duì)比圖及誤差分析表對(duì)控制系統(tǒng)進(jìn)行了評(píng)估;完成了AGV小車(chē)控制系統(tǒng)的硬件系統(tǒng)設(shè)計(jì)和軟件程序設(shè)計(jì);設(shè)計(jì)了基于光學(xué)的路徑跟蹤檢測(cè)系統(tǒng),并在西門(mén)子S7-200中通過(guò)編程實(shí)現(xiàn)了模糊控制;設(shè)計(jì)了基于組態(tài)王6.53的AGV小車(chē)實(shí)時(shí)監(jiān)控系統(tǒng),并利用其報(bào)表功能能實(shí)時(shí)的記錄小車(chē)狀態(tài)參數(shù),顯示小車(chē)實(shí)時(shí)數(shù)據(jù)報(bào)表和歷史數(shù)據(jù)報(bào)表以便分析;使用報(bào)警功能實(shí)時(shí)報(bào)告異常情況,及時(shí)提醒工作人員進(jìn)行故障分析判斷,進(jìn)行應(yīng)急處理。
[Abstract]:Our country is a big country of industrial detonator production and use, but our industrial detonator production equipment is generally backward, and the degree of automation is low. From raw material distribution, electric detonator assembly, semi-finished product transshipment to finished product recovery, there are a large number of manual and semi-mechanized operations. Main charge or finished industrial detonator are very sensitive, electrostatic, friction, impact can cause explosion, directly to the safety of the operator. In view of the high sensitivity and high risk in the process of production and logistics of electrical explosive products in civil explosive industry, the research on AGV self-guided vehicle suitable for civil explosive industry is carried out in this paper, combined with the development and characteristics of related fields at home and abroad. In this paper, the classification, structure, research status and working principle of AGV guided vehicle are introduced in detail, and the feasibility of AGV suitable for civil explosive industry is analyzed according to the sensitive characteristics of flammable and explosive of electrical explosive products in civil explosive industry. According to the theory of antenna engineering and electromagnetic pulse, the inductive current model of electric initiator is established, and the inductive current generated by the electromagnetic pulse in the DTD433 module of wireless data transmission module is calculated. The kinematics model and control model of AGV system are established. According to the basic principle of fuzzy control, the trajectory tracking fuzzy control system is designed, and the AGV trajectory tracking fuzzy control system is simulated with Matlab Simulink tool. The control system is evaluated by comparing the tracking curve with the guidance curve and the error analysis table. The hardware system design and software program design of AGV vehicle control system are completed, the path tracking and detecting system based on optics is designed, and the fuzzy control is realized by programming in Siemens S7-200. This paper designs a real-time monitoring system of AGV vehicle based on Kingview 6.53, and uses its report form function to record the status parameters of the vehicle in real time and display the real-time data report and historical data report of the vehicle for analysis. Using the alarm function to report the abnormal situation in real time, remind the staff to analyze and judge the fault and deal with the emergency in time.
【學(xué)位授予單位】：武漢紡織大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TP23

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本文編號(hào)：2355360