磁导航叉车式AGV控制导引系统的研究与开发

发布时间：2018-06-26 04:41

本文选题：叉车式 + AGV　；参考：《广西大学》2017年硕士论文

【摘要】：本课题在对电动搬运叉车进行充分研究的基础上,设计改造出了一款磁导航叉车式AGV,叉车式AGV不但可以降低了工人的劳动强度,而且也可以为企业节省成本,提高企业的竞争力。本课题改造出的叉车式AGV采用五轮底盘结构,选择行走和转向集成一体的舵轮驱动方式,导引方式采用性价比和适用性都比较高的磁导航,驱动电机采用交流伺服电机、转向电机采用步进电机,运用货叉起升移栽的方式搬运货物,并对货叉机构进行了运动分析和静力分析,并在此基础上进行了改进。驱动控制器采用先进的柯蒂斯1230交流驱动控制器,主控制器采用方便可靠的西门子S7-200PLC,安全防护系统采用超声波安全传感器和防撞触边相结合的双重保护方式。电控系统分为自动和手动控制两部分,根据所选电控元器件,绘制了控制电路图,根据电路图搭建安装电控系统。自动控制部分采用模块化的程序设计方法,运用模糊算法设计自动导引程序,通过对转弯路段和分叉路段的分析,设计了转弯程序和分叉程序。最后对AGV各项性能进行测试,包括自动导引性能、叉货性能、运行速度、安全防护性能等。
[Abstract]:Based on the full study of the electric forklift, a magnetic navigation forklift AGV is designed and transformed. The forklift AGV can not only reduce the labor intensity of the workers, but also save the cost for the enterprise. Improve the competitiveness of enterprises. The five-wheel chassis structure is adopted in the forklift AGV, the steering mode is integrated with walking and steering, the guiding mode is magnetic navigation with high cost performance and applicability, and the AC servo motor is used to drive the motor. The steering motor adopts stepper motor and uses fork lifting and transplanting to carry goods. The kinematic analysis and static analysis of fork mechanism are carried out and the improvement is made on this basis. The drive controller adopts the advanced Curtis 1230 AC drive controller, the main controller adopts the convenient and reliable Siemens S7-200PLC, and the safety protection system adopts the dual protection mode of ultrasonic safety sensor and collision protection. The electronic control system is divided into two parts: automatic control and manual control. According to the selected electronic control components, the control circuit diagram is drawn, and the electrical control system is built and installed according to the circuit diagram. In the automatic control part, the modular programming method is adopted, and the fuzzy algorithm is used to design the automatic guidance program. Through the analysis of the turning section and the bifurcation section, the turning program and the bifurcation program are designed. Finally, the performance of AGV is tested, including automatic guidance performance, forking performance, running speed, safety performance and so on.
【学位授予单位】：广西大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH242

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