Research On AGV Control System For Intelligent Material Feeding And Its Key Technologies

This thesis originated from the Sichuan Science and Technology Support Program “Study and Demonstration of Generic Key Technologies for Intelligent Filling System of Pickled Food” under Grant 2016NZ0077,which aims to design and implement the AGV control system for material feeding in the pickled food filling production line of Jixiangju Food Co.,Ltd.The AGV has completed the automatic control of loading material,charging,feeding filling machines as well as exception monitoring and handling in these processes.And it can be operated manually.At first,this paper studies the development of AGV at home and abroad and the research on its key field,then expounds the scheme design of the filling system.The design requirements of the AGV system are summarized based on the previous work.Then,according to the requirements,the design of each module of the AGV is completed,including the magnetic guided method,path representation,loading and unloading method,automatic charging method and obstacle avoidance method are determined.Then,based on the research of AGV environment map modeling method,graph theory and fuzzy control theory,the key technical problems of this AGV control system are solved.This paper proposes a path representation and task execution solution for the AGV which uses the topological map to bulid its environmental model.This solution uses RFID to identify the nodes in the topology map and an improved environment modeling method based on the directed graph proposed in the paper,by giving new explanation to connectivity and weight in the directed graph,the method ensures the correct execution order of the AGV tasks and the equivalence between shortest path and the path with optimization of task execution time.In this paper,I use the Dijkstra shortest path algorithm to ensure the optimization of task execution time.Based on the kinematics model of the AGV,the traditional PID controller and fuzzy controller are combined in this paper,the fuzzy adaptive control is adopted for the proportional link,and the separate integral controller is adopted for the integral link,so that the AGV can adapt to the change of speed,so as to ensure the stability of the tracking process.According to the overall design of the AGV control system and the solution to the key problems,this paper describes the specific design and implementation of the AGV embedded control system,including the AGV master and slave controller based on Infineon's XMC4000 series MCU and the software based on CMSIS-RTOS.Finally,through the on-site debugging,all schemes of the AGV control system is proved feasible.After the use of AGV to handle and feed materials to replace the manual work,the production efficiency,safety,informationalized level and other indicators have been improved.