Design Of The Tracking Control System Based On Magnetic Tape Guided AGV

With the continuous development of such industries as flexible manufacturing and assembly,warehousing logistics,automobiles and other industry,AGV has become an important research topic in the management of freight and materials.The main function of AGV is to replace the manual labor for material transport,handling,unloading and other work,connect production tasks of different work sites.It plays an important role in intelligent production management.This paper firstly introduces the hardware platform of AGV.The guidance of AGV,the driving method and the choice of controller are analyzed and discussed,and the experimental platform design is confirmed,that is,the guiding sensor is a 16-bit array of Hall Sensor,the driving method of AGV is using two-wheel differential drive,the controller selects STM32 series control panel.Then introduce the AGV tracking control system software platform,the bottom of AGV tracking control software flow and host computer interface software flow are designed in detail,and the lower machine control code and the host computer interface code are written based on Keil uVision5 and VS/MFC development environment.In order to verify the effectiveness of ADRC algorithm in the tape guided AGV tracking control,the AGV kinematics model,the tracking error model and the tracking control algorithm design are analyzed in detail,and carry on the simulation experiment in MATLAB.The tracking effect and accuracy of PID control method and ADRC control method on magnetic tape guided AGV tracking are compared.The simulation experiment shows that ADRC has more superiority in dynamic response performance and anti-interference ability compared to PID.In order to further verify the proposed tracking control method,the experiment research are done on the designed AGV platform.After determining the tape laying plan,positioning plan and algorithm design plan,through the positioning effect of the upper computer interface demonstration and tracking error data,AGV running test shows that ADRC has smaller tracking error than PID control,and it is more obvious in tracking control of circular track.Finally,the work done on this topic is summarized,and the existing problems in the experimental platform design and the direction of improvement are discussed.