Design And Development Of Control System For Flexible Transport Vehicle

Aircraft components transport vehicle is mainly used for aircraft components transportation andassembly operation process, in the modern aircraft manufacturing and assembly plays an importantrole. The traditional Aircraft components transport vehicle using common wheel mechanism is notadapt in production workshop operation, therefore it needs a kind of transport vehicle which hasOmni-directional mobile function. Flexible transport vehicle due to the omni-directional mobilemechanism can realize zero turning radius and be flexible movement in the narrow space. Flexibletransport vehicle can enhance the plane automated assembly level, at the same time, it make full useof manufacturing location and shorten the assembly period, improve the plane assembly efficiency.In this paper，the wing flexible transport vehicle is the research object, according to the controlof the flexible transport vehicle principle and characteristics，it designs flexible transport vehiclecontrol system and develop control system software. The main work is as following:(1) According to project requirement, it builds flexible transport vehicle based onomni-directional mobile technology and flexible supporting technology. It introduces the basicstructure of flexible transport vehicle, analyses kinematics model of omni-directional wheel and theform of flexible support system aimed at wing transportation.(2) Analysis of the requirements for the control system and the current mainstream structure ofCNC system, it puts forward the general structure scheme of the control system. Selected the structureof "computer and motion controller" upper-lower type, which is built control system of flexibletransport vehicle. It designs PLC control program and selects the hardware of control system.(3) On the basis of the feature of the open CNC system，the upper-computer software of controlsystem is designed and analysis the function of each module. Using Visual C++writing code, itdevelops control system software, realizes the function of each module.(4) Control system was installed, debugged and tested. The test results show that flexibletransport vehicle can realize the required functions.