Design Of AGV Steering Wheel Servo Drivers Based On STM32

In the "Made in China 2025" background,smart factories are high-speed evolving,and the industrial robots replace traditional manual repetitive work,The AGV(Automated Guided Vehicle)replaces manual handling,The demand for AGV is increasing both in manufacturing and in the warehousing industry.Most of the domestic AGV controllers are developed by themselves,and most of the AGV steering wheel drivers from foreign companies.Based on the traditional AC(alternating-current)servo drivers,the AGV steering wheel drivers with one-to-two function are designed.The main research content includes:Firstly,the research background and status of AGV are introduced,and the advantages and disadvantages of AGV steering wheel drivers from different manufacturers are analyzed and compared at home and abroad.Secondly,based on the mathematical model of AC asynchronous motor,the mathematical model of AGV steering wheel is established,the kinematics equation of AGV steering wheel is analyzed,the mechanical parameter identification methods of AGV steering wheel drive are studied.Thirdly,the hardware circuit of AGV steering wheel drivers are designed,which mainly includes MOSFET driver circuit,three-phase inverter circuit,current sampling circuit,digital circuit,IO circuit,EtherCAT communication circuit and control circuit as the core of STM32F407.Fourthly,the algorithm programs of AGV steering wheel drivers are designed,which mainly include vector control based on rotor flux linkage orientation,speed calculation,identification of inertia and friction coefficient,and load feedforward compensation.Finally,the current loop control,speed loop control and EtherCAT network communication of the AGV steering wheel driver are verified.Then,two designed drivers are applied to the AGV to verify the whole steering wheel drive system.