智能停车场系统关键模块研究与设计

发布时间：2018-06-27 12:05

本文选题：智能停车场系统 + 停车AGV　；参考：《南京理工大学》2017年硕士论文

【摘要】：近年来,我国汽车保有量大幅度增加,部分城市停车位数量严重不足,传统的停车场已经无法满足人们对停车场效率、性能、安全和管理上的需要。为了解决停车难题,我国大力发展智能停车场。本文在分析和总结国内外智能停车场的基础上,研究了一种基于停车AGV的智能停车场系统。在分析了该种智能停车场系统组成和停车流程之后,本文就停车过程中起关键作用的停车AGV进行了系统设计、运动学及动力学分析、运动控制、停车路径规划等内容进行了深入研究。首先完成了停车AGV的车体结构、梳齿结构等设计,并重点研究了停车AGV的车体类型、驱动系统、安全系统等。其次建立了梳齿、梳齿架和车体的有限元模型,对梳齿和梳齿架进行了静力学应力和变形分析,并对车体进行了模态分析,初步验证了停车AGV机械结构的安全性和合理性。利用ADAMS软件对停车AGV进行了动力学仿真,用Matlab分析了停车AGV的最小转弯半径,验证了运动学模型的正确性。最后对停车AGV的路径跟踪策略进行了研究,对停车AGV直线运动和转弯运动分别建立运动控制模型,通过粒子群算法和遗传算法优化PID参数对运动误差纠偏效果进行分析,最终取得了良好的纠偏效果,充分验证了停车AGV运动学分析和控制模型的正确性。
[Abstract]:In recent years, the number of car ownership in China has increased greatly and the number of parking spaces in some cities has been seriously inadequate. The traditional parking lot has been unable to meet the needs of parking efficiency, performance, safety and management. In order to solve the problem of parking, our country vigorously develop intelligent parking. Based on the analysis and summary of intelligent parking at home and abroad, this paper studies an intelligent parking system based on parking AGV. After analyzing the composition and parking flow of the intelligent parking system, the system design, kinematics and dynamics analysis, motion control of the parking AGV which plays a key role in the parking process are carried out in this paper. Parking path planning and other contents are studied in depth. Firstly, the car-body structure and comb structure of the parking AGV are designed, and the types, driving system and safety system of the parking AGV are studied. Secondly, the finite element model of comb, comb frame and carbody is established, the static stress and deformation of comb and comb frame are analyzed, and the modal analysis of carbody is carried out. The safety and rationality of the mechanical structure of AGV are preliminarily verified. The dynamic simulation of parking AGV is carried out by using Adams software, and the minimum turning radius of parking AGV is analyzed by Matlab, which verifies the correctness of the kinematics model. Finally, the path tracking strategy of the parking AGV is studied. The motion control models of the straight line motion and the turning motion of the parking AGV are established, and the error correction effect is analyzed by optimizing the pid parameters by the particle swarm optimization algorithm and the genetic algorithm. Finally, a good correction effect is obtained, which fully verifies the correctness of the kinematics analysis and control model of AGV.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U491.71

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