AGV自动导引小车控制系统研究

江苏科技大学硕士学位论文AGV自动导引小车控制系统研究姓名：冯锋申请学位级别：硕士专业：控制理论与控制工程指导教师：邓志良20080301AGV(AGV)AGVAGVAGVAGVARMPID1.AGVAGVAGVAGV2.AGVAGVAGV3.AGVµClinuxBootloaderµClinuxAGV4.AGVPIDAGVPIDAGVAGVPIDPIDPIDMATLABSIMULINKPIDPIDµClinuxARMAGV5.µClinuxLinuxµClinuxAGVFlashAGVAGV()()AGVAGVAGVAGVAGVPWMA/DPIDPIDRS232AGVAGVARMµClinuxPIDI(AGV)AGVAGVAGVAGVARMPIDAGVAGVAGVAGVµClinuxµClinuxAGVPIDARMPIDPIDPIDMATLABSIMULINKPIDPIDµClinuxARMAGVµClinuxAGVAGVARMµClinuxPIDABSTRACTAstheactuatorofAutomatedGuidedVehicle(AGV)system,thecontrolsystemeffectsthestabilizationoftheAGVevidently.Withtheadvancementofcontroltheoriesandthedevelopmentofelectronictechnologies,theAGVsystemisdevelopedwithhighspeed,highaccurateness,open-architecture,andintelligence.Forthehighspeedandhighaccuratelocation-controlandtrajectorytracking,theAGVsystemmustrelyonadvancedmotioncontroltheoryandfinemotioncontrolstructure.Inthispaper,weusetheARMmicroprocessorasthechiefchiptodesignthemovementcontrolsystem.ThepaperdiscussesthehardwarerealizationofourAGVsystembasedonthemicroprocessor,andintroducesthedesignmethodofthesystemsoftwarebasedontherealtimeoperationsystemµClinuxandfinallydiscussesthespeedcontrolsystemofthemotorbasedonfuzzyPIDcontrolmethod.First,thispapergivesAGV’sbodystructure,includingtheAGVperformanceindicatorsandtheoverallstructure,andhighlightedintroducingthesimulationmodelofADCmotorandAGVkinematicmodel,derivedfromwhichwegettheDC-relatedparametersandthemovementstateandwaysofAGVinthetheory.Second,weintroducedtherelevantprinciplesofselectingchips,designedhardwarecircuitoftheAGVcontrolsystem,thendescribedthedesignandselectionofembeddedprocessorsindetail,andalsointroducedmemoryexpansion.ThenthehardwareconstitutionoftheAGVisdiscussed.Itnarratesemphaticallythedesignmethod,theusingmethodofserialcommunicationsandthedesignofinterfacecircuit.ThesimulationmodelofDCmotorandkinematicmodelofAGVisrecommended.Wedesignthedrivingcircuitandtheguidingsignalcontroller.TheAGV’ssensorsystemisdesignedinthearticle,includingtheprecisesupersonicsensorandelectromagneticguidancesensor.Inthispaperthevariousfunctionalmodulesareusedandimplementationoftheprogrammebyembeddeddesign.Foranembeddedsystem,thehardwaredesignisthebasisoftheentiresystem,butitisalsorelatedtotheperformanceofthewholesystem.Third,therealtimethedesignmethodofthesoftwaresystemtheAGVandtheconceptoftheembeddedoperatingsystemisintroduced.Wefocusedontheprocessofrepottingandtransplantingmethodsoftheembeddedoperatingsystemandbootloader.µClinuxoperatingsystemcanbestmeettherequirementsofAGVcontrolsystem,suchas:thesmalloperatingsystemcanmeetthehardwarerequirementsofembeddedsystems;real-time,andthatsystemthereactiontimecanbepredictability;itcanachievemulti-taskingcapability.Four,traditionalAGVmotioncontrolsystemoftenusesPIDcontrollers,inwhichwewillbethelocation,speed,headingangleerrorandtheerrorrateofchangeasthecontrollerinput,therobot'slocation,speedanddirectionangleasacontroloutput.Intheactualsystem,thelocation,speedandthedirectionangleischanging,andthetwodrivewheels’movementisnotthesame.TheresultisthatPIDcontrolparametersontheoverallsituationareextremelydifficulttoadjust.Inrecentyears,fuzzycontrolhasbeensuccessfullyappliedtomobilerobotsandautonomousvehicles.DuetothecomplexityanduncertaintyofAGVoperatingenvironment,itisverydifficulttobuildaprecisemodel.However,theadvantageoffuzzycontrolisnotrequiredoftheobject’sprecisemathematicalmodel.Therefore,fuzzycontrolissuitableforcontrollingAGV.Toaddressthisproblem,thispaperdesignedthecorrespondingfuzzyPIDcontroller,whichreducesthedifficultyoftuningPIDparameters;onthewhole,improvethecontrollingaccuracyandrobustness.ThenrealizationmethodonARMofthefuzzyPIDcontrollerisdiscussed.Atfirst,thepaperintroducesthemathematicalmodeloftheordinarydigitalPIDcontrollerandfuzzyPIDcontroller,andwecomparethembyMATLab’sSIMULINKmodule.FinallywerepotthefuzzyPIDcontrollertoARMmicroprocessor.AndwealsodesignedaregulationwhichmakesAGVhaveaccuratetrackingcapabilities,thusenhancetheaccuracyoftheexercise.Finally,weprogramµClinuxdriversandAGVcontrolsystemmoduleprogramme.Inapplicationdevelopment,thepreparationofadriverisanimportantsteptoaffectthedesignprocess,whichhasadirectimpactonthestabilityofsystemoperationandoperatingefficiency.µClinuxdriversfirstlyneedtoknowtoprepareequipmentmanagementandachievedrivermodulesofcontrolsysteminLinux,whichincludingserialports,networkcardaswellasFlashdrivers.AccordingtoAGVworkingwayandconditionsweredesignedAGVPCControlSystem(maincomputer)software,thelowercomputersoftwareandsomecontrolprocedures.ThemainfunctionofPCsoftwareprovidesplanninganddesign,applicationinterface,sendingandreceivingAGV’smission,andsendingbackAGVcurrentworkingstatusbyawirelesscommunicationsystem.ThemainfunctionoflowercomputersoftwareiscompletingtocontrolAGVmovementdirectionandvelocitybythemissionsendingbytheuppercomputer,andsendingthecurrentworkingstateofAGVtotheuppercomputer.ThecontrolprogrammodulesincludePWMoccurredprocedures,A/Dsamplingmodule,FuzzyPIDtuningandPIDalgorithmprograms,RS232serialcommunicationprotocolsandprocedures,thema