Research On Heavy Load AGV Rectification Theory And Key Technology Of Electronic Control System

With the proposal and development of Chinese-made 2025,intelligent factories,intelligent manufacturing and intelligent logistics have become the future direction of industrial development.In view of the low degree of automation of auxiliary work and the shortage of labor in the cotton textile workshop,heavy load AGV has become a hot research field in this field.Based on the background,aiming at the problem of positioning accuracy and rectifying performance of heavy load AGV,the principle and method of DC motor PWM speed regulation and PID deviation correction control were analyzed,the rectifying control strategy was designed,and realized the self-correction of heavy load AGV.According to the characteristics of AGV DC motor speed regulation system,the static and dynamic characteristics of DC motor were analyzed,and the mathematical model of DC motor speed regulation system was established.Based on the analysis of the principle and method of PWM speed regulation and PID rectifying control of DC motor,the mathematical models of PWM link and PID correction link of DC motor were established which laid a foundation for the design of subsequent numerical simulation and control system.On the basis of comprehensive analysis and comparison of all kinds of guidance methods,combined with the field operation conditions of AGV,magnetic navigation was selected as the guidance mode of composite robot.The structure of the driving unit was optimized,and the bidirectional double drive four wheel differential structure with "steering and lifting" was designed.Based on the principle of electronic correction of magnetic navigation sensor,the kinematics model of AGV rectifying speed control system was established.According to the principle of AGV speed correction,the overall design scheme was determined.The suitable motor and motor driver were selected by calculating the driving force of motor.The PLC control system,DC motor speed regulation system,PWM circuit and I/O port distribution were designed.In view of the problem of deviation control,the main program of PLC was designed,and expounded the control idea.The configuration software was used to design the vehicle management system according to the visual operation of equipment and combined with the control program.And the control strategy of rectifying deviation was formulated which focused on solving the control strategy of linear speed regulation,turning speed regulation and PID control.The mathematical model and kinematics model of DC motor PID control system were simulated by MATLAB software,and the simulation results showed that the control system had fast response speed,no overshoot,and met the requirements of rectifying speed of DC motor.The AGV prototype was designed.According to the principle of PWM speed regulation and PID control,the relevant theory and control program were tested by means of experiment and data analysis.The experimental results showed that AGV could navigate independently and achieve the purpose of control.The actual running track basically coincided with the simulation track and met the requirements of system control and deviation correction.