激光导引AGV车载控制系统研究-机械制造及其自动化专业论文.docxVIP

Study Study on Vehicle Mounted Control System of Laser-Guided AGV ABSTRACT The Automatic Guided Vehicle(AOV)is a kind of automatic materials-carrier,which has the advantages such as high-degree of automation， flexible application，safety and reliability,unmanned operation，simple construction，convenient maintenance，etc．Therefore，it has been widely used in materials transportation systems in vehicle factories，tobacco industry, mechanical engineering industry and airports．AGV also has been used in flexible manufacturing system(FMS)，handling systems and automatic warehouses．As the key equipment in modern logistics system，AGV plays a significant role in improving the automation level and production efficiency of manufacturing processes． An AGV kinematical model was established based on the motion analysis． To reach the smooth turning process，the criterion that AGV should turn clockwise or counterclockwise was be deduced，then the starting point of the turning process was calculated．The turning process of AGV was simulated by using Matlab．After analysis the trajectory error,a fuzzy control model was proposed for AGV．Two fuzzy controllers were adopted to compensate the trajectory error,the first fuzzy controller was designed with two inputs and one output，the other was one input and one output．The fuzzy control system was established by Matlab／Simlink．The simulation results show that the proposed method is valid for the control system of trajectory error ofAGV． The vehicle mounted control system is the key part of AGV．Based on the study on the vehicle mounted control system，the system was divided into orientation module，security module，communications module and motion module．With analyzing the principle of every module．the hardware system was developed based on industrial computer and PMAC card．Then。the software was developed by C样．NET．The trajectory errors show that this AGV satisfies the practical needs of production． Key words：AGV，Motion Simulation，Fuzzy Control，Vehicle