激光导引AGV控制系统的研究与设计

发布时间：2019-01-04 13:26

【摘要】：激光导引AGV是一种无人操纵的自动化搬运设备,是自动化仓储系统中物流运输的有效手段,而AGV控制系统是AGV中最重要的运动控制部分,对激光导引AGV的平稳运行起着重要的作用。随着控制器软硬件协调设计和算法的研究与应用带来的的种种问题,ROS开源操作系统渐渐得到应用和推广,最近几年激光导引AGV正朝着高速、高精度、开放化、智能化、网络化的方向发展。首先,介绍了AGV控制系统结构设计。文章先介绍了AGV小车的车体结构分类,讨论了差动使运动的三轮式AGV和四轮式AGV的不同与相似之处,并选定四轮式AGV作为实验设计平台;随后着重论述了AGV小车的运动学分析和运动方式,推导出AGV小车的状态方程以及激光导航的纠偏方程。文章分析了AGV的激光导引方式,并对激光导引AGV的运动方式进行分解和讨论,推导其状态方程,方便控制与实现,章节最后还设计了激光导引控制系统。其次,介绍了激光导引AGV控制系统硬件设计。章节讨论了直流无刷伺服电机的驱动方式与控制方案,采用FN3788作为电机驱动器的驱动芯片,分析了FN3788芯片的优秀性能并设计了直流无刷伺服电机的驱动方案,随后讨论了直流无刷电机的闭环控制,霍尔传感器在电流环中的工作原理与控制逻辑,检测霍尔器件的输出状态来计算电机的转速,并设计霍尔信号处理电路。章节还提出对激光导引AGV控制系统采用闭环位置环控制,设计了控制系统的通信方式。最后,设计了AGV控制器软件。章节简单介绍了ROS开发平台,分析了ROS系统结构,针对ROS开发平台分析了节点、包、堆之间的关系。章节设计了控制器软件部分,设计了初始化子程序、电机驱动子程序、防碰撞子程序;章节还讨论了ROS平台的通信机制,并设计出了控制器软件部分。
[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.
【学位授予单位】：江西理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP23

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