Design Of Omnidirectional AGV And Motion Control In Intelligent Warehouse

In order to realize industrial automation,China has put forward China's strategic goal of making 2025 powerful countries,that is,fully automatic production,installation,transportation,storage and so on in industrial production.AGV(Automated Guided Vehicle)is an important part of the advanced industrial production line.At present,many AGV have come into being,but these AGV are mostly differential steering and can not achieve flexible movement and turn in the narrow warehouse space.Therefore,the AGV with omnidirectional movement function becomes the hot spot of the research of the current workshop logistics.For this reason,a four wheel drive omnidirectional AGV structure and motion control system is designed based on the crane's wheel.In this paper,the mechanical structure design and physical assembly of omnidirectional AGV are first carried out.Secondly,the design of motor drive system and the production of PCB circuit board are carried out.Finally,the omnidirectional AGV motion control system is designed.The motion control system mainly includes the design of magnetic detection system and the design of the omnidirectional AGV motion control algorithm.The motor drive system includes three parts: power supply circuit,drive control circuit and control signal amplifying circuit.LM317 and L7805CD2 T are selected as the voltage conversion chips of the power circuit,JY01 is used as the motor drive control chip,and S8050 is selected as the control signal amplification chip,and the physical production of PCB is also carried out.The magnetic detection system can quickly and accurately obtain the position error of the omnidirectional AGV.At the same time,it can also prevent the interference of light,temperature,humidity and other environmental factors.Therefore,the magnetic detection system is designed and a bus based 16 bit magnetic strip detection sensor array is designed.The experimental test shows that the magnetic field sensor can be detected.Good enough to detect the magnetic field signal.In order to improve the accuracy of motion control of omnidirectional AGV,an adaptive backstepping sliding mode omnidirectional AGV motion control algorithm is proposed.First,the kinematics and dynamics models of the omnidirectional AGV based on the max wheel are established,and the backstepping sliding mode omnidirectional AGV motion control algorithm is designed based on the dynamic model,but the algorithm can not adapt to the external interference very well.In order to make the omnidirectional AGV adapt to the external interference better,the idea of adaptive control is combined with the backstepping sliding mode omnidirectional AGV motion control algorithm,and the adaptive backstepping sliding mode omnidirectional AGV motion control algorithm is designed.In order to verify the stability and reliability of the designed omnidirectional AGV system,based on the omnidirectional AGV,the designed motor drive system,magnetic detection system and the omnidirectional AGV motion control algorithm are tested,and the designed control algorithm,the PID motion control algorithm,the backstepping sliding mode omnidirectional AGV motion control algorithm,and the backstepping sliding mode control algorithm are used.Fuzzy adaptive sliding mode motion control algorithm is compared.The experimental results show that omnidirectional AGV has good stability and reliability.