Research And Implementation Of Magnetic Navigation AGV Vehicle Control System

With the rapid development of domestic manufacturing industry,the traditional way of manually handling materials has been unable to meet the factory's demand for production efficiency.The Automated Guided Vehicle(AGV)is widely used in modern manufacturing plants because of its automation,intelligence and efficiency,instead of manual handling.Based on the actual needs of enterprises,this paper designs and develops a one-way latent magnetic navigation AGV.According to the actual functional requirements of the AGV vehicle control system in the production workshop of the enterprise,this paper determines the design index of the AGV,selects the magnetic navigation guide and the two-wheel differential drive,and formulates the overall scheme of the AGV vehicle control system.By analyzing the magnetic sensors,RFID readers,differential drive motors and other hardware module parameters of the AGV vehicle system,the AGV motor driver control board and the AGV vehicle main controller with STM32 as the core were developed.Then the software design was carried out from the motor drive control flow and the main control program flow,and the code was written in the Keil uVision5 development environment.According to the functional requirements of AGV task scheduling,wireless calling and stocking devices were developed and their scheduling mode was designed.For the AGV tracking motion control problem,this paper carries out mathematical modeling from two aspects of AGV kinematics and drive motor.Through the analysis of the AGV kinematics model,the relationship between the AGV displacement state variable and the control variable is obtained.The relationship between the input voltage and the output angular velocity of the motor is obtained by the establishment of the AGV drive motor model.The MATLAB simulation of the incremental PID control algorithm and the experiment of the algorithm control effect are carried out on the motor model.The experimental results verify the effectiveness of the control algorithm in magnetic navigation AGV tracking control.Finally,the overall performance test of the AGV vehicle control system,including the actual operating speed of AGV,tracking ability,stopping accuracy,and task scheduling test.The test results show that the error between the actual running speed of the AGV and the set speed is about 1m/min;the AGV can still operate normally at a speed of 33m/min under a small load(50Kg)and a turning radius of 60cm;the AGV is small.Under load,the stopping accuracy is less than ±10mm;after receiving the dispatching task,the AGV can arrive at the designated station according to the set path to complete the material transportation.In summary,the latent magnetic navigation AGV designed in this paper achieves the expected design requirements and achieves the expected design effect,which can be applied to the actual production workshop.