| This topic comes from the key R＆D project of military-civilian integration in Shandong Province.According to the project requirements,a set of comprehensive automatic construction device for composite coating is designed and developed to replace manual construction and improve the coating rate.Based on the previous investigation and research,this paper designs an automatic construction device for composite coating based on AGV.According to the construction technology and method,the structure of the vehicle is designed,and the theoretical analysis,simulation research and control analysis of key components are carried out to ensure the structural function.stable and reliable.First,the structure design of the composite coating automatic construction device.Combined with the current AGV design scheme,the functional requirements and performance objectives of the construction platform are determined according to the application field and construction process requirements of the composite coating automatic construction device of this subject.The steering resistance and rolling compaction of different gear trains are compared and analyzed,and it is determined that the construction platform adopts a gear train structure of 40 swivel wheels + 2steering wheels.By consulting relevant materials,using PROE to design the frame structure of the construction platform vehicle,design the structure of the construction device according to the construction technology and method,and complete the overall three-dimensional assembly.Then,the overall mechanical analysis of the device is carried out.The built construction platform vehicle model is imported into ANSYS Workbench,and the multi-condition static analysis is carried out on the frame during the carrying process of the construction platform,and the stress and deformation of the frame under different working conditions are obtained.Through the optimization of the frame response surface and topology optimization,the stress and deformation of the frame are reduced.Through the modal analysis and harmonic response analysis of the construction platform frame and the rear coating construction device,the vibration mode and different frequency response amplitudes of the frame and the construction device are obtained to avoid the damage to the car body structure due to resonance and the impact on the construction quality.Impact.Thirdly,kinematics analysis and stability analysis of construction platform.The steering kinematics model and the differential kinematics model of the double steering wheel are established to obtain the relationship between the motion state of the vehicle body and the steering and rotational speed of the two steering wheels,which provides a theoretical reference for the motion control of the device.The dynamic simulation model of the construction platform is established based on ADAMS,the road and wheel models are established by using the ADAMS attribute file,and the influence of the motion parameters on the in-situ rotation and driving stability of the construction platform is obtained,which provides a theoretical basis for the optimal design of the construction platform.Finally,the trajectory of the fuzzy controller is rectified.According to the differential kinematic model,the fuzzy control rules for PID parameter adjustment are established,and the fuzzy controller is established through MATLAB/Simulink,and the pd parameters are adjusted through the fuzzy controller.Compared with the traditional PID controller,the fuzzy controller achieves better construction control.The trajectory path of the platform is tracked to provide technical support for prototype preparation. |
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