Development Of Motor Control System For Automated Guided Vehicle

With the rapid development of economy,labor shortage is increasingly prominent.Automated Guided Vehicle(AGV)is immensely popular in factories,ports and logistics warehouse and other labor demand places.With advantages of no pollution,flexible,convenient and high efficiency,labor-saving AGV has become an integral part of modern factory.To achieve cargo handling,especially in wide speed range,a variety of paths run is completed through wheel speed difference of AGV.Therefore,the driving motor is required to have high dynamic performance.With advantages of a wide speed range,dynamic performance,high efficiency and low noise,Permanent magnet synchronous motor is the best choice of AGV drive motor.This paper is commissioned from the company to develop motor controller of AGV.Through experimental platform testing and site operation,feasibility of vector control method based on the polar coordinates d-axis voltage compensation was verified.Considering development objectives and requirements,the design needs to finish the following tasks:(1)On the basis of understanding principle and mathematical model of permanent magnet synchronous motor,vector control system based on the polar coordinates d-axis voltage compensation is established with motor speed and torque as control goal On the basis of understanding principle and mathematical model of permanent magnet synchronous motor,vector control system based on the polar coordinates d-axis voltage compensation is established with motor sdynamic performance as control goal to.development the VEXTA motor driver.(2)Hardware circuit of control system is designed with STM32F103C8T6 as the control core.It is comprised of power supply circuit,STM32F103C8T6’s peripheral circuit,main power circuit and its drive circuit,detection circuit,etc.(3)The entire system is programmed under IAR environment according to design requirements of AGV controller.The software part includes detection of initial rotor angle and correction angle,real-time calculation of rotor angle,detection of motor speed,vector control algorithm based on polar coordinates d-axis voltage compensation and corresponding protection programs,etc.Experiments were set up to verify the operation of controller on the basis of hardware and software design.In the laboratory,the controller was operating normally.Then,smooth running test was in a straight line,curve,fork and confluence road under no-load and load situation.The test results are in line with the requirements of field operation.Feasibility of vector control drive of AGV based on the polar coordinates d-axis voltage compensation is further verified.