Design Of AGV Control System Based On Inertial Guidance

In order to improve the production efficiency of the production workshop,reduce the cost of manpower transportation,especially to realize the flexible adjustment of logistics transportation tempo in the workshop,this paper designs an automatic guide vehicle(AGV)according to the actual demand of automobile parts stamping workshop.It includes hardware design of AGV body structure and controller,software design of vehicle control system and guidance correction algorithm,communication network connection and path planning algorithm scheduling system design.The main work is as follows:(1)Based on the full investigation of AGV development status at home and abroad,according to the actual needs of enterprises,the basic parameters of AGV are determined.On the basis of inertial guidance and two-dimensional code positioning guidance,the driving mode and body structure of AGV are designed.The overall architecture of AGV vehicle control system is designed,the sensor selection and peripheral circuit design of AGV modules are carried out.(2)The onboard control program of AGV is designed.In order to solve the problem of accumulated errors in inertial guidance,DM two-dimensional code is used to correct errors.According to the frequency domain characteristics of the gyroscope and accelerometer of the inertial guidance sensor,an improved complementary filtering algorithm is designed to improve the guidance accuracy by adjusting the confidence coefficient with the change of the velocity and attitude of the AGV.Finally,the drive control logic of AGV is designed so that AGV can complete attitude correction with a relatively smooth curve.(3)In order to adjust the AGV logistics and transportation system according to the production task of the workshop,a scheduling system of AGV is designed and developed.The construction of communication network hardware,the selection and use of communication protocol and the design of message protocol are completed,and the problem of data instruction transmission between AGV and scheduling software of upper computer is solved.In view of the path planning requirements of AGV during task execution,an assignment rule conforming to the actual working conditions of AGV is designed to improve Dijkstra algorithm,and logistics routes of AGV can be planned reasonably and efficiently.(4)The experimental site is set up,common deviation conditions and complex working lines are designed in practice,and the AGV is tested.Experimental data and results show that the designed inertial guidance AGV has high operation guidance accuracy and practical value.