面向FMS的自动导引车控制器设计与实现

发布时间：2018-02-24 10:04

本文关键词： 自动导引车循迹电机驱动远程控制　出处：《东北大学》2015年硕士论文　论文类型：学位论文

【摘要】：自动导引车,是一种能够实现零部件自动装卸、搬运的运输传送设备。它装备有独立的动力源和自动导向系统,能沿预定路线行驶,可以与其他物流设备自动接口。在柔性制造系统(FMS)中,自动导引车作为物料输送工具为实现自动化车间生产线的完全自动化,以至于最终实现无人化,得到迅速发展和推广应用。本文所研究的自动导引车,是为实现中国二十二冶集团精密锻造有限公司多向模锻部件仓库存储的要求而设计的,在充分了解自动导引车国内外发展现状和特点的基础上,依据自动导引车系统技术要求,研究了自动导引车组成和原理,详细分析了自动导引车的控制原理,利用差速调整式方法解决了自动导引车运动问题,并对其中的控制关键原理和数据模型进行了详细分析。然后本文对自动导引车控制器硬件部分进行了总体设计,划分出电机驱动控制模块、循迹模块、电源模块等,在详细分析控制器设计原理的基础上,对各模块的电路进行了设计;同时在硬件设计的基础上,对自动导引车的软件部分进行了分析设计,通过划分各功能模块,分别完成了自动导引车的运动、远程控制等功能。本文最后对设计的自动导引车进行了实验验证,分别从叉手动作、无线通讯和智能控制测试与分析,自动导引车运行速度测试与分析,自动导引车的定位方法测试与分析,负载能力测试与分析等几个方面进行了详细论证分析,实验结果表明设计的自动导引车能够满足系统设计要求。
[Abstract]:Automatic guided vehicle is a kind of transportation equipment which can realize automatic loading and unloading and handling of parts and components. It is equipped with independent power source and automatic guidance system, and can travel along a predetermined route. In flexible Manufacturing system (FMS), the automatic guide vehicle is used as a material conveying tool to realize the complete automation of the production line of the automation workshop, so as to achieve the ultimate realization of no man. The automatic guiding vehicle studied in this paper is designed to realize the storage requirement of multi-direction die forging parts warehouse of China 22 Metallurgical Group Precision forging Co., Ltd. On the basis of fully understanding the present situation and characteristics of the development of the automatic guidance vehicle at home and abroad, according to the technical requirements of the automatic guidance vehicle system, the composition and principle of the automatic guide vehicle are studied, and the control principle of the automatic guide vehicle is analyzed in detail. The motion problem of automatic guided vehicle is solved by using differential speed adjustment method, and the key control principle and data model are analyzed in detail. Then, the hardware part of the controller of automatic guide vehicle is designed as a whole. The motor drive control module, tracking module, power supply module and so on are divided into three parts. Based on the detailed analysis of the design principle of the controller, the circuit of each module is designed, at the same time, on the basis of the hardware design, The software part of the automatic guidance vehicle is analyzed and designed. By dividing each function module, the functions of motion and remote control of the automatic guidance vehicle are completed respectively. Finally, the design of the automatic guidance vehicle is verified by experiments. The test and analysis of forked hand movement, wireless communication and intelligent control, the speed test and analysis of automatic guidance vehicle, the positioning method of automatic guidance vehicle, Several aspects such as load capacity test and analysis are demonstrated and analyzed in detail. The experimental results show that the designed automatic guidance vehicle can meet the requirements of the system design.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH22

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