【摘要】：激光導(dǎo)引AGV是一種無人操縱的自動化搬運設(shè)備,是自動化倉儲系統(tǒng)中物流運輸?shù)挠行侄?而AGV控制系統(tǒng)是AGV中最重要的運動控制部分,對激光導(dǎo)引AGV的平穩(wěn)運行起著重要的作用。隨著控制器軟硬件協(xié)調(diào)設(shè)計和算法的研究與應(yīng)用帶來的的種種問題,ROS開源操作系統(tǒng)漸漸得到應(yīng)用和推廣,最近幾年激光導(dǎo)引AGV正朝著高速、高精度、開放化、智能化、網(wǎng)絡(luò)化的方向發(fā)展。首先,介紹了AGV控制系統(tǒng)結(jié)構(gòu)設(shè)計。文章先介紹了AGV小車的車體結(jié)構(gòu)分類,討論了差動使運動的三輪式AGV和四輪式AGV的不同與相似之處,并選定四輪式AGV作為實驗設(shè)計平臺;隨后著重論述了AGV小車的運動學(xué)分析和運動方式,推導(dǎo)出AGV小車的狀態(tài)方程以及激光導(dǎo)航的糾偏方程。文章分析了AGV的激光導(dǎo)引方式,并對激光導(dǎo)引AGV的運動方式進(jìn)行分解和討論,推導(dǎo)其狀態(tài)方程,方便控制與實現(xiàn),章節(jié)最后還設(shè)計了激光導(dǎo)引控制系統(tǒng)。其次,介紹了激光導(dǎo)引AGV控制系統(tǒng)硬件設(shè)計。章節(jié)討論了直流無刷伺服電機(jī)的驅(qū)動方式與控制方案,采用FN3788作為電機(jī)驅(qū)動器的驅(qū)動芯片,分析了FN3788芯片的優(yōu)秀性能并設(shè)計了直流無刷伺服電機(jī)的驅(qū)動方案,隨后討論了直流無刷電機(jī)的閉環(huán)控制,霍爾傳感器在電流環(huán)中的工作原理與控制邏輯,檢測霍爾器件的輸出狀態(tài)來計算電機(jī)的轉(zhuǎn)速,并設(shè)計霍爾信號處理電路。章節(jié)還提出對激光導(dǎo)引AGV控制系統(tǒng)采用閉環(huán)位置環(huán)控制,設(shè)計了控制系統(tǒng)的通信方式。最后,設(shè)計了AGV控制器軟件。章節(jié)簡單介紹了ROS開發(fā)平臺,分析了ROS系統(tǒng)結(jié)構(gòu),針對ROS開發(fā)平臺分析了節(jié)點、包、堆之間的關(guān)系。章節(jié)設(shè)計了控制器軟件部分,設(shè)計了初始化子程序、電機(jī)驅(qū)動子程序、防碰撞子程序;章節(jié)還討論了ROS平臺的通信機(jī)制,并設(shè)計出了控制器軟件部分。
[Abstract]:Laser guided AGV is a kind of unmanned automatic handling equipment, which is an effective means of logistics transportation in automated storage system. AGV control system is the most important part of motion control in AGV. It plays an important role in the smooth operation of laser guided AGV. With the problems of hardware and software design and algorithm research and application of controller, ROS open source operating system is gradually applied and popularized. In recent years, laser guided AGV is moving towards high speed, high precision, open and intelligent. The direction of network development. Firstly, the structure design of AGV control system is introduced. This paper first introduces the classification of the car-body structure of the AGV trolley, discusses the differences and similarities between the three-wheeled AGV and the four-wheel AGV, and selects the four-wheel AGV as the experimental design platform. Then the kinematics analysis and motion mode of AGV car are discussed emphatically, and the state equation of AGV car and the correction equation of laser navigation are deduced. In this paper, the laser guidance mode of AGV is analyzed, the motion mode of laser guided AGV is decomposed and discussed, and the equation of state is deduced, which is convenient to control and realize. Finally, a laser guidance control system is designed. Secondly, the hardware design of laser guided AGV control system is introduced. The driving mode and control scheme of DC brushless servo motor are discussed in the chapter. FN3788 is used as the driving chip of motor driver. The excellent performance of FN3788 chip is analyzed and the drive scheme of DC brushless servo motor is designed. Then, the closed-loop control of brushless DC motor, the working principle and control logic of Hall sensor in the current loop are discussed, the output state of Hall device is detected to calculate the speed of motor, and the Hall signal processing circuit is designed. The closed loop position loop control is used in the laser guided AGV control system, and the communication mode of the control system is designed. Finally, the software of AGV controller is designed. The chapter briefly introduces the ROS development platform, analyzes the structure of the ROS system, and analyzes the relationship among nodes, packets and heaps for the ROS development platform. Chapter design controller software part, design initialization subprogram, motor drive subroutine, anti-collision subroutine, chapter also discusses the communication mechanism of ROS platform, and designed the controller software part.
【學(xué)位授予單位】：江西理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TP23

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本文編號：2400348