Research On Trajectory Tracking Control Of 120t AGV Frame Vehicle

Automated Guided Vehicle(AGV),also known as wheeled mobile robot,is an unmanned intelligent vehicle that can travel according to a pre-defined trajectory.For the steel industry,the transportation cost of materials accounts for a large proportion of the total production cost.Therefore,the application of automatic guided vehicles with high transportation efficiency and manpower saving in the steel industry can significantly reduce costs.It is of great significance to the development of material transportation equipment in the future steel industry.Based on the 120t AGV frame vehicle developed by Yanshan University,Tolian and Dalian Huarui Heavy Industry Co.Ltd.and combined with the environmental characteristics of iron and steel enterprises,this paper makes a deep research on the trajectory tracking technology of AGV frame car in the environment of steel plants.Firstly,the basic composition of AGV frame vehicle is introduced.The appropriate magnetic navigation sensors and magnetic nails are selected and the steering mechanism is solved by mechanism inversion method.In order to improve the flexibility of steering and solve the problem of poor control accuracy in the process of trajectory tracking,the characteristics of proportional multiple valves in the hydraulic steering system are mainly studied.The electro-hydraulic system model,steering actuator model and electro-hydraulic steering control model are established for the steering system of the AGV frame vehicle.The motion model of the AGV frame vehicle is established based on the structural characteristics of the vehicle.To lay the foundation for the corresponding trajectory tracking control algorithm.According to the established motion model of AGV frame vehicle,the sliding mode variable structure control algorithm and inversion method are used to track the trajectory tracking.The trajectory tracking of the above control algorithm is carried out by MATLAB software.The effectiveness of the above control algorithm is verified by simulation analysis.At the same time,through comparative analysis,it is found that the inversion method has better trajectory tracking performance.The hardware selection and software programming of the control system were carried out.The human-computer interaction interface of the upper computer was designed by VB.Net.Based on STM32,the lower computer control system and human-computer interaction interface were designed by STewin.The upper and lower machines can be used together to realize the real-time control and display of the system,and finally verified the effectiveness of the algorithm adopted by hardware simulation and software simulation.