| With the development of science and technology,more and more automated production is applied to industrial production.Compared with automated production,the traditional manual production method has many shortcomings.Traditional factories are gradually transforming into automated factories.The control system of the automatic operation AGV is studied in this paper based on the needs of the automated production project of the electrolysis workshop.Aiming at the characteristics of AGV’s operating environment,unguided lead navigation method is used in this article,and unscented Kalman filter is used to fuse inertial navigation,lidar,RFID for navigation;improved A* algorithm to find the shortest distance and the fewest turns path is used;fuzzy PID for motion control is used which is better to adapt to the nonlinear characteristics of AGV system;QT multi-thread technology is used for AGV vehicle software system design.Firstly,the control system requirements and functions in accordance with the project requirements is analyed,and the overall framework of the control system is determined and the main parts is designed.The advantages and disadvantages of multiple wireless communication methods is Compared,WIFI as the remote communication method between the vehicle-mounted system and the ground monitoring systemis selected;compare the current commonly used AGV navigation methods and combine the project requirements,the navigation method of inertial navigation,lidar,and RFID fusion is choosed;Considering the motion safety of the vehicle control system,the vehicle computer and PLC as the vehicle controller of the control system is choosed;finally,according to the overall design of the system,the control system experiment platform was built.Then,the navigation and path planning algorithms are designed.According to the characteristics of inertial navigation,lidar,and RFID navigation,a combination of three navigation methods is adopted,and the unscented Kalman filter that can handle nonlinear systems to fuse each sensor data to achieve higher precision navigation is used.According to the geometric characteristics of the environment in which the AGV operates,heuristic information on the number of turns is added to the cost function to realize the path search with the shortest path and the fewest number of turns.Secondly,the AGV experimental platform is kinematically modeled and a closed loop motion control scheme is designed: the motion control is divided into a pose loop and a drive wheel speed control loop,and the fuzzy PID is used as the pose loop controller.After that,QT multi-threading technology was used to carry out the overall design of the in-vehicle software system and detailed design of each module.Finally,the control system is tested using the built experimental platform and designed software.The test results show that the control system core module navigation and motion control design is feasible. |
