基于ARM的AGV控制系统研究

发布时间：2018-03-21 01:39

本文选题：ARM　切入点：AGV　出处：《南京航空航天大学》2017年硕士论文　论文类型：学位论文

【摘要】：近年来,随着物流仓储效率的加快和企业自动化水平的提高,市场竞争、减轻劳动强度、适应批量生产等需求动力使生产自动化成为主流趋势,自动引导小车(AGV)正是在这种需求下产生的。AGV凭借其安全可靠、高效灵活的特点,适应了物流自动化发展的最新要求,得到了广泛的工业应用。本文针对工业生产需要,设计了一种基于ARM的AGV控制系统,实现AGV沿指定路径行驶、安全避障、紧急停车等功能。根据控制系统要求,本文以ARM微处理器为控制核心进行控制系统设计。主要研究了AGV控制系统的硬件实现方案,设计了基于实时嵌入式系统的软件控制。论文主要进行了以下几方面工作:首先,进行了AGV机械结构设计,并分析了AGV在不同运动状态下的运动模型。其次,进行了AGV控制系统硬件设计。主要包括上下位机芯片选择、电机驱动器选择、无线通信模块选择、磁导航传感器设计及安全避障模块设计,为控制系统软件实现搭建好基础平台。再次,进行了AGV控制系统软件设计。主要包括软件开发环境搭建、上下位机通信设计及上下位机软件设计。最后,在软硬件设计的基础上进行了实验验证和分析。主要包括磁导航模块、电机控制模块、安全避障模块及AGV系统联调实验,并对实验数据进行了分析总结。实验证明,本文设计的基于ARM的磁导航AGV能沿着规定路径精确行驶并能实现安全避障、紧急停车等功能,具有运行行程长、智能灵活、安全可靠等优点。
[Abstract]:In recent years, with the acceleration of logistics storage efficiency and the improvement of enterprise automation, market competition, reducing labor intensity, adapting to mass production and other requirements, automation has become the mainstream trend. It is under this demand that AGV can meet the new requirements of the development of logistics automation by virtue of its safety, reliability, high efficiency and flexibility. This paper aims at the need of industrial production. A AGV control system based on ARM is designed, which realizes the functions of AGV driving along the specified path, avoiding obstacles safely and stopping in an emergency, etc. According to the requirements of the control system, In this paper, the ARM microprocessor is used as the control core to design the control system. The hardware implementation scheme of the AGV control system is studied, and the software control based on the real-time embedded system is designed. The main work of this paper is as follows: first, The mechanical structure of AGV is designed, and the motion model of AGV in different motion state is analyzed. Secondly, the hardware design of AGV control system is carried out, including chip selection, motor driver selection and wireless communication module selection. Magnetic navigation sensor design and safety obstacle avoidance module design, for the control system software implementation to build a good basic platform. Thirdly, the AGV control system software design, mainly including the software development environment, Finally, based on the design of hardware and software, the experiment verification and analysis are carried out. It mainly includes magnetic navigation module, motor control module, safety obstacle avoidance module and AGV system joint adjustment experiment. The experimental data are analyzed and summarized. The experiment proves that the magnetic navigation AGV designed in this paper based on ARM can drive accurately along the prescribed path and can realize the functions of safe avoiding obstacles and emergency parking. It has the advantages of long running distance, intelligent and flexible, etc. The advantages of safety, reliability, etc.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP23

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