Research On Coordinated Control Technology Of Multiple Servo Motors Based On ARM Intelligent Logistics Vehicle

With the rapid development of e-commerce and express delivery industries,the demand for logistics services has been increasing.However,traditional transportation systems have problems with low efficiency in the warehousing and transportation environment,requiring a large amount of manpower or the establishment of complex machine conveying systems.Therefore,this study aims to explore a new type of transportation control technology and design a new type of intelligent logistics vehicle system based on the mecanum wheel,which can perform omnidirectional movement in the warehousing environment.The system needs to drive and coordinate multiple servo motors at the same time,which presents many difficulties and inconveniences for traditional servo motor PLC control methods.To solve this technical difficulty,this study combines the convenience of ARM system for hardware control and proposes a multi-servo motor coordination control technology based on ARM intelligent logistics vehicle.Firstly,this study designs a simple model of an intelligent logistics vehicle according to the research objectives to verify the feasibility of the design.Furthermore,this study analyzes the basic structure and control principles of a single servo motor,completes and verifies the closed-loop control of a single motor,including the design of the single motor servo driver controller and the design of the single motor PID speed control algorithm.The system has a multi-channel real-time signal feedback mechanism,which can perform real-time drive control on a single servo motor,and has the characteristics of high efficiency,stability,and accuracy.As the intelligent logistics vehicle uses multiple servo motors,in order to control multiple servo motors,this design introduces free RTOS on the servo driver controller.By allocating different motors into different tasks within the system and using free RTOS as a multitasking scheduler,multiple servo motors can be concurrently controlled based on the CPU’s time slice round-robin mechanism,coordinating the PID control of multiple motors.To solve the problem of mutual influence of adjustment coefficients in the PID control process of multiple servo motors and to improve the stability and accuracy of the system,this study proposes a coordinated PID control algorithm,which is successfully applied to the multiservo motor coordinated drive control system of the intelligent logistics vehicle model.This study proves the innovativeness and practicality of the algorithm through experimental verification and comparative analysis of the performance differences between the new algorithm and the single motor PID algorithm,as well as the performance of the new algorithm under different experimental conditions.Additionally,this study also designs an upper computer program for real-time modification of the path and uploading and saving of operational data.The results of this study have important theoretical and practical value in improving the control efficiency and accuracy of multiple servo motors,and providing new ideas and methods for the development of intelligent logistics vehicles in the warehousing environment.