The Design And Research Of AGV Vehicle Control System Based On 3C Automatic Machining Center

The introduction of Automatic Guided Vehicle in production can improve production efficiency and level of automation.It can also reduce the cost of labor and management and improve working conditions.Therefore,the demand of AGV for the promotion of automation and intelligent of enterprise's production is very urgently.At present,70% of the processing enterprises of 3C electronic products in the world are in China,but 3C industry faced with the shortage of labor and the increasing costs,this subject based on the characteristics of 3C product processing,and combined with the problems found in R & D and operation,Improved the vehicle control system of AGV car accordingly.The main contents include the following aspects:First,introduced the various modules of AGV vehicle system.The AGV car must have the ability to track a predetermined track stably,So we chose the magnetic navigation sensor who has sixteen monitoring points,make the differential adjustment more refined;It can detect the obstacles that appear in the safety range in front of the car timely and accurate,so choose the main sensor of the laser obstacle avoidance that equipped with two auxiliary sensors,to increase the scanning range of the sensor,at the same time,adopted both contact and non-contact safety protection measures;Accurate reading of landmarks to make the car is enable to change speed in time,so that it can deal with the change of path in time,selected the technology of Radio Frequency Identification(RFID).Second,on the basis of the above selected modules of the vehicle,according to the various functions that the car needs during its running,and to meet the need of communication between peripheral module and vehicle controller,designed the corresponding function for the controller hardware,under the condition of satisfying the basic function requirement of AGV,optimized the hardware structure.Then,designed the software of the system.First,the Linux environment is built on the host computer to meet the need of programming,debugging,compiling and so on on the PC side;Secondly,the Linux system compiled on the host computer is transplanted on the target machine(vehicle controller),to meet the target machine can achieve multi-task operation,improving the ability of handling tasks of vehicle Controller.Then improved the traditional classical PID control algorithm,adopted the integral separation PID control algorithm, increased the stability and safety of the car during operation.Finally,realized the control program of each module of the vehicle control system.Finally,builed the mathematical model of the AGV motion model,simulated and compared the traditional PID control algorithm and the integral separated PID control algorithm in MATLAB/Simulink,at the same time,the corresponding tests were carried out,the results show that the operation precision design requirements of AGV trolley are satisfied.