Design And Research Of AGV Vehicle Controller

This paper aims at the needs of industrial production,combining embedded technology,computer technology and communication technology,designs a AGV vehicle controller based on STM32 to realize the functions of AGV motion control,current and voltage acquisition and data storage,and solves the problem of networking communication.According to the requirements of the control system,this paper takes the STM32 microprocessor as the control core to design the control system.Hardware realization scheme of AGV control system and software control scheme based on real-time embedded system are studied.The thesis mainly carries out the following aspects of work:This paper takes the AGV vehicle controller as the research object,according to the function and the performance demand of the AGV vehicle system,determines the vehicle system overall design plan and the wireless communication network architecture plan;Formulates the controller hardware overall design plan around the selected vehicle controller chip STM32F103VET6,uses the Aultium DesignerlO modularization design power supply steady voltage,the data collection,the data storage,the network communication and so on related module circuit;Based on RT-Thread real-time operating systemlayer,modularizationto complete the underlying hardware driver design;In view of the shortcomings of PID algorithm and fuzzy logic control,combined with the advantages ofthe two,the study of the DC motor fuzzy PID control strategy,and the use of MATLAB/Simulink module to fuzzy PID system and conventional PID system simulation comparison,simulation results show that the fuzzy PID control system is significantly better than the conventional PID system;According to the programming characteristics of RT-Thread system,application-layer threads such as system and motion control are designed.To solve the problem of AGV network communication,a research scheme of AGV communication system based on TCP/IP protocol is proposed.The system connects each AGV monitoring node through WLAN and interacts with the upper computer in real time;AGV node carries a wireless module,and then adopts the Modbus/TCP application layer protocol to form a complete master-slave communication scheme;The current-voltage data acquisition module,motor control module and network data communication function of the on-board controller are verified experimentally under laboratory conditions.The experimental results show that the designed AGV on-board controller can basically realize the function and performance requirements.