适用于民爆行业的AGV自导引小车研究
发布时间：2018-11-25 07:53
【摘要】：我国是工业雷管生产使用大国,而我国的工业雷管生产设备普遍较为落后,自动化程度低。从原料配送、电雷管装配、半成品转运到成品回收存在大量的手工作业和半机械化作业,然而由于无论是构成工业雷管的起爆药、传爆药、主装药还是成品工业雷管都异常敏感,静电、摩擦、撞击都可能引发爆炸,直接对操作工人人生安全构成威胁。本文针对民爆行业电火工品生产及物流过程中的高敏感性和高危险性,结合国内外相关领域的发展与特性,开展对适用于民爆行业AGV自导引小车的研究。本文详尽介绍了AGV自导导引小车的分类、结构、研究现状及其工作原理;针对民爆行业电火工品易燃易爆的敏感特性,对适用于民爆行业的AGV可行性进行分析;根据天线工程及电磁脉冲等相关理论,建立了电火工品感应电流模型,并计算了其在无线数传模块DTD433模块工作电磁脉冲环境下产生的感应电流;建立了AGV系统运动学模型和系统控制模型,根据模糊控制基本原理,设计了轨迹跟踪模糊控制系统,并结合Matlab Simulink工具对所设计的AGV轨迹跟踪模糊控制系统进行仿真,结合小车实际跟踪曲线与导引曲线对比图及误差分析表对控制系统进行了评估;完成了AGV小车控制系统的硬件系统设计和软件程序设计;设计了基于光学的路径跟踪检测系统,并在西门子S7-200中通过编程实现了模糊控制;设计了基于组态王6.53的AGV小车实时监控系统,并利用其报表功能能实时的记录小车状态参数,显示小车实时数据报表和历史数据报表以便分析;使用报警功能实时报告异常情况,及时提醒工作人员进行故障分析判断,进行应急处理。
[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.
【学位授予单位】：武汉纺织大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP23
本文编号：2355360
[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.
【学位授予单位】：武汉纺织大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP23
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