【摘要】：隨著物流行業(yè)規(guī)模的持續(xù)增大,而能夠使用的場地卻十分有限,倉儲內(nèi)部就顯得臃腫不堪,因而就需要一種運(yùn)動靈活性更高、自由度更多的自動導(dǎo)引小車(Automated Guided Vehicle,AGV)。Mecanum輪是一種特殊的輪體結(jié)構(gòu),通過多個Mecanum輪組合可以實(shí)現(xiàn)移動平臺在平面內(nèi)全方位移動。用Mecanum輪替代普通輪設(shè)計(jì)的全方位移動AGV在平面內(nèi)有三個自由度,運(yùn)動無死角、能夠原地旋轉(zhuǎn)等特點(diǎn)使其能夠自由穿梭于狹小的空間內(nèi)。因此研究基于Mecanum輪的全方位移動AGV將十分符合當(dāng)前需求,且具有廣大的市場前景。本文研究的主要內(nèi)容包括以下幾個方面:首先,闡述了論文研究的目的及意義,并分析了AGV的研究現(xiàn)狀以及基于Mecanum輪全方位移動平臺的研發(fā)現(xiàn)狀與應(yīng)用現(xiàn)狀,確定本論文研究的主要內(nèi)容。其次,通過分析全方位移動AGV的全向運(yùn)動的機(jī)理,建立了基于Mecanum輪的四輪全方位移動AGV的運(yùn)動學(xué)、動力學(xué)模型,指出了AGV的運(yùn)動方向與車輪受力的關(guān)系,并給出了全方位移動AGV的十種控制方式;參考直流伺服電機(jī)的數(shù)學(xué)模型,建立了全方位移動AGV機(jī)電一體化運(yùn)動控制模型,為下一章的AGV運(yùn)動控制研究打下了基礎(chǔ)。再次,依據(jù)經(jīng)典PID的控制原理,設(shè)計(jì)了基于PID控制算法速度控制器與位姿控制器,并利用MATLAB/Simulink仿真驗(yàn)證了速度控制器和位姿控制器的有效性與可行性;依據(jù)bang-bang最優(yōu)控制原理,分析了基于bang-bang控制的兩位姿點(diǎn)最優(yōu)路徑規(guī)劃,并給出了姿態(tài)不變情況下全方位移動AGV的最優(yōu)路徑。最后,依據(jù)全方位移動AGV的功能設(shè)計(jì),選用了合適的驅(qū)動器、傳感器等器件,并開發(fā)設(shè)計(jì)了AGV的嵌入式主控系統(tǒng),完成了實(shí)驗(yàn)樣機(jī)平臺的搭建;然后基于實(shí)驗(yàn)樣機(jī)展開速度、姿態(tài)、位置跟蹤實(shí)驗(yàn),實(shí)驗(yàn)表明本文設(shè)計(jì)的全方位移動AGV的滿足樣機(jī)設(shè)計(jì)指標(biāo),并且具有較好的路徑跟蹤能力與魯棒性。
[Abstract]:As the scale of the logistics industry continues to grow and the space available for use is limited, the warehouse interior becomes bloated and requires a higher degree of mobility. The Automated guided vehicle (AGV). Mecanum wheel with more degrees of freedom is a special wheel-body structure. The omnidirectional moving AGV designed with Mecanum wheel instead of ordinary wheel has three degrees of freedom in the plane, no dead angle of motion, and can rotate in situ so that it can freely shuttle in a narrow space. Therefore, the research of omnidirectional mobile AGV based on Mecanum wheel will meet the current demand and have a broad market prospect. The main contents of this paper include the following aspects: firstly, the purpose and significance of the research are described, and the research status of AGV, the research and development status and application status of the omnidirectional mobile platform based on Mecanum wheel are analyzed. Determine the main content of this paper. Secondly, by analyzing the omnidirectional motion mechanism of omnidirectional moving AGV, the kinematics and dynamics model of four-wheel omnidirectional moving AGV based on Mecanum wheel is established, and the relationship between the motion direction of AGV and the wheel force is pointed out. Ten control methods of omnidirectional mobile AGV are given, and a motion control model of omnidirectional mobile AGV is established with reference to the mathematical model of DC servo motor, which lays a foundation for the next chapter of AGV motion control research. Thirdly, according to the control principle of classical pid, the speed controller and pose controller based on pid control algorithm are designed, and the validity and feasibility of speed controller and pose controller are verified by MATLAB / Simulink simulation. In this paper, the optimal path planning of two position points based on bang-bang control is analyzed, and the optimal path of omnidirectional moving bang-bang is given under the condition of attitude invariant. Finally, according to the functional design of omni-directional mobile AGV, appropriate drivers, sensors and other devices are selected, and the embedded main control system of AGV is developed. The attitude and position tracking experiments show that the omnidirectional moving AGV designed in this paper meets the prototype design criteria and has good path tracking ability and robustness.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP23

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