Research On Motion Control Strategy Of Feeding AGV In Pringting And Packaging Workshop

With the rise of intelligent manufacturing,country's printing and packaging workshops are developing toward automation and intelligence,but low production efficiency and high overall production costs are the main bottlenecks that plague the printing industry to improve quality and efficiency.Automatic guided vehicle(AGV)is the key logistics equipment in the unmanned workshop.It can automatically feed and transport materials in the printing and packaging workshop,and can effectively solve the problems of manual stacking and manual handling.In this paper is aimed at the status monitoring of logistics AGV and introduces digital twin technology to provide a reliable guarantee for the future printing workshop to realize the cluster management of automatic navigation vehicles.According to the needs of the printing workshop,this paper uses Mecanum wheels to build an all-round mobile AGV experimental platform,developing the control system and select the hardware of the positioning system,drive system,and power unit,and determines its overall design plan.A kinematic model of AGV based on the Mecanum wheel is established,and the correctness of the kinematic model is verified through experiments;Because the Mecanum wheel is controlled by a DC decelerated brushed motor through PWM,the value is changed in the Arduino's analog Writeo to change the duty cycle and realize the PWM output to control the motor speed.Therefore,the value and the speed are adjusted.The experiment of transforming the relationship,the relationship is obtained;in actual movement,the AGV will have phenomena such as offset due to many factors,such as installation errors and environmental errors.The speed compensation is carried out through experiments.Use the AGV distance reference object and the ultrasonic sensor beam angle to be 30° to establish the AGV pose determination model based on the ultrasonic sensor,and verify the correctness of the formula through actual calculations;The fuzzy control is introduced,to use the AGV displacement deviation ? X and offset angle ? as the controller input,take the angular velocity adjustment ?₀' amount of the AGV around the Z axis and the angle deviation adjustment amount ?? around the Y axis as the output,establish a fuzzy control rule table,and perform real-time correction of the AGV when it is traveling,and pass the AGV motion control experiment,the effectiveness of the fuzzy control algorithm is verified.At the same time,the fixed-point feedback signal of the RFID tag is used to realize the fixed-point calibration of the position of the AGV on the Y axis.An upper-lower computer interaction system based on digital twin technology is established,and a virtual positioning interface of the upper computer is designed using Unity 3D software.Using the LORA wireless communication module,the two-way communication between the AGV and the host computer model was realized,and the AGV and the host computer virtual model interaction experiment was carried out.Through the comparison between the actual motion trajectory of the AGV and the motion trajectory of the host computer virtual model,the digital twin technology was verified on synchronization between the virtual positioning system and the actual AGV motion state.