全方位移动AGV运动控制系统设计与实现

发布时间：2018-07-20 21:56

【摘要】：随着物流行业规模的持续增大,而能够使用的场地却十分有限,仓储内部就显得臃肿不堪,因而就需要一种运动灵活性更高、自由度更多的自动导引小车(Automated Guided Vehicle,AGV)。Mecanum轮是一种特殊的轮体结构,通过多个Mecanum轮组合可以实现移动平台在平面内全方位移动。用Mecanum轮替代普通轮设计的全方位移动AGV在平面内有三个自由度,运动无死角、能够原地旋转等特点使其能够自由穿梭于狭小的空间内。因此研究基于Mecanum轮的全方位移动AGV将十分符合当前需求,且具有广大的市场前景。本文研究的主要内容包括以下几个方面:首先,阐述了论文研究的目的及意义,并分析了AGV的研究现状以及基于Mecanum轮全方位移动平台的研发现状与应用现状,确定本论文研究的主要内容。其次,通过分析全方位移动AGV的全向运动的机理,建立了基于Mecanum轮的四轮全方位移动AGV的运动学、动力学模型,指出了AGV的运动方向与车轮受力的关系,并给出了全方位移动AGV的十种控制方式;参考直流伺服电机的数学模型,建立了全方位移动AGV机电一体化运动控制模型,为下一章的AGV运动控制研究打下了基础。再次,依据经典PID的控制原理,设计了基于PID控制算法速度控制器与位姿控制器,并利用MATLAB/Simulink仿真验证了速度控制器和位姿控制器的有效性与可行性;依据bang-bang最优控制原理,分析了基于bang-bang控制的两位姿点最优路径规划,并给出了姿态不变情况下全方位移动AGV的最优路径。最后,依据全方位移动AGV的功能设计,选用了合适的驱动器、传感器等器件,并开发设计了AGV的嵌入式主控系统,完成了实验样机平台的搭建;然后基于实验样机展开速度、姿态、位置跟踪实验,实验表明本文设计的全方位移动AGV的满足样机设计指标,并且具有较好的路径跟踪能力与鲁棒性。
[Abstract]:As the scale of the logistics industry continues to grow and the space available for use is limited, the warehouse interior becomes bloated and requires a higher degree of mobility. The Automated guided vehicle (AGV). Mecanum wheel with more degrees of freedom is a special wheel-body structure. The omnidirectional moving AGV designed with Mecanum wheel instead of ordinary wheel has three degrees of freedom in the plane, no dead angle of motion, and can rotate in situ so that it can freely shuttle in a narrow space. Therefore, the research of omnidirectional mobile AGV based on Mecanum wheel will meet the current demand and have a broad market prospect. The main contents of this paper include the following aspects: firstly, the purpose and significance of the research are described, and the research status of AGV, the research and development status and application status of the omnidirectional mobile platform based on Mecanum wheel are analyzed. Determine the main content of this paper. Secondly, by analyzing the omnidirectional motion mechanism of omnidirectional moving AGV, the kinematics and dynamics model of four-wheel omnidirectional moving AGV based on Mecanum wheel is established, and the relationship between the motion direction of AGV and the wheel force is pointed out. Ten control methods of omnidirectional mobile AGV are given, and a motion control model of omnidirectional mobile AGV is established with reference to the mathematical model of DC servo motor, which lays a foundation for the next chapter of AGV motion control research. Thirdly, according to the control principle of classical pid, the speed controller and pose controller based on pid control algorithm are designed, and the validity and feasibility of speed controller and pose controller are verified by MATLAB / Simulink simulation. In this paper, the optimal path planning of two position points based on bang-bang control is analyzed, and the optimal path of omnidirectional moving bang-bang is given under the condition of attitude invariant. Finally, according to the functional design of omni-directional mobile AGV, appropriate drivers, sensors and other devices are selected, and the embedded main control system of AGV is developed. The attitude and position tracking experiments show that the omnidirectional moving AGV designed in this paper meets the prototype design criteria and has good path tracking ability and robustness.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP23

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