【摘要】：AGV是一種典型的輪式移動(dòng)機(jī)器人,它集機(jī)械、光電、計(jì)算機(jī)、控制、儀器等多個(gè)學(xué)科技術(shù)于一體,具有高度自動(dòng)化、安全可靠、應(yīng)用靈活等優(yōu)點(diǎn)。正是因?yàn)锳GV的這些優(yōu)越性,使其在自動(dòng)化生產(chǎn)車間、現(xiàn)代物流系統(tǒng)中得到越來越廣泛的應(yīng)用,利用AGV構(gòu)建自動(dòng)化物流系統(tǒng)能極大的提高生產(chǎn)效率,因此,對(duì)AGV的研究具有深刻的理論及工程實(shí)踐指導(dǎo)意義。定位導(dǎo)引精度和運(yùn)動(dòng)控制性能是AGV性能的核心評(píng)價(jià)指標(biāo)。為提高AGV的定位精度與運(yùn)動(dòng)控制性能,本文通過調(diào)研大量國內(nèi)外AGV文獻(xiàn)資料,以兩輪差速驅(qū)動(dòng)AGV為研究對(duì)象,對(duì)其運(yùn)動(dòng)學(xué)、定位導(dǎo)引與運(yùn)動(dòng)控制等核心問題進(jìn)行了深入的理論分析與研究,主要研究內(nèi)容概括如下:1、介紹了AGV總體需求、工作流程、驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì)過程,通過對(duì)AGV運(yùn)動(dòng)的三個(gè)坐標(biāo)系進(jìn)行標(biāo)定,推導(dǎo)了各坐標(biāo)系下AGV的位姿表示及轉(zhuǎn)換關(guān)系,從而完成了AGV的運(yùn)動(dòng)學(xué)建模與分析。根據(jù)總體方案,介紹了AGV定位導(dǎo)引系統(tǒng)的硬件方案,從而設(shè)計(jì)了導(dǎo)引算法,并分別設(shè)計(jì)了相對(duì)定位與絕對(duì)定位算法,最后通過自適應(yīng)加權(quán)算法將兩部分定位數(shù)據(jù)進(jìn)行融合。2、開展了AGV運(yùn)動(dòng)控制的全面研究。通過Lyapunov理論以及位姿誤差方程設(shè)計(jì)了運(yùn)動(dòng)控制律,利用MATLAB進(jìn)行了仿真驗(yàn)證;然后通過建立AGV運(yùn)動(dòng)控制的靜態(tài)特性、動(dòng)態(tài)特性、綜合特性評(píng)價(jià)模型,完成了對(duì)控制律作用效果的評(píng)價(jià);最后,分析了控制律參數(shù)對(duì)運(yùn)動(dòng)控制的影響,并提出了滑模遺傳算法,然后以評(píng)價(jià)函數(shù)為滑模遺傳算法的適應(yīng)度函數(shù)進(jìn)行控制律參數(shù)的優(yōu)化,并對(duì)優(yōu)化前后AGV的運(yùn)動(dòng)性能進(jìn)行了對(duì)比,從而驗(yàn)證了參數(shù)優(yōu)化的重要性。3、分別設(shè)計(jì)了AGV控制系統(tǒng)的上、下位機(jī)軟件。一方面,通過分析下位機(jī)的開發(fā)環(huán)境,并基于TwinCAT PLC的開發(fā)語言設(shè)計(jì)了AGV主體程序以及下位機(jī)人機(jī)交互界面;另一方面,對(duì)上位機(jī)軟件進(jìn)行功能模塊劃分,并采用Visual Studio軟件為上位機(jī)軟件開發(fā)平臺(tái),以XAML為界面語言、C#為后臺(tái)設(shè)計(jì)語言,設(shè)計(jì)了WPF上位機(jī)軟件平臺(tái)。最后,設(shè)計(jì)了上位機(jī)與下位機(jī)軟件的通訊方案,通過對(duì)控制軟件進(jìn)行調(diào)試,實(shí)現(xiàn)了上位機(jī)與下位機(jī)的通訊與數(shù)據(jù)傳輸,并測(cè)試了各功能模塊的功能,從而完成了控制系統(tǒng)的軟件設(shè)計(jì)與實(shí)現(xiàn)。
[Abstract]:AGV is a typical wheeled mobile robot, which integrates mechanical, photoelectric, computer, control, instrument and other disciplines. It has the advantages of high automation, safety and reliability, flexible application and so on. It is precisely because of these advantages of AGV that it is more and more widely used in automation workshop and modern logistics system. Using AGV to build automated logistics system can greatly improve the production efficiency. The study of AGV has profound theoretical and practical significance. Positioning guidance accuracy and motion control performance are the core evaluation indexes of AGV performance. In order to improve the positioning accuracy and motion control performance of AGV, this paper investigates a large number of domestic and international AGV documents, and takes the two-wheel differential drive AGV as the research object, and studies its kinematics. The main research contents are summarized as follows: 1. The overall requirements of AGV, the workflow and the design process of the driving system are introduced. By calibrating the three coordinate systems of AGV motion, the position and pose representation and transformation relation of AGV in each coordinate system are deduced, and the kinematics modeling and analysis of AGV are completed. According to the overall scheme, the hardware scheme of AGV positioning and guidance system is introduced, and then the guidance algorithm is designed, and the relative positioning algorithm and absolute positioning algorithm are designed respectively. Finally, the two parts of localization data are fused by adaptive weighting algorithm. 2. A comprehensive study of AGV motion control is carried out. The motion control law is designed by Lyapunov theory and pose error equation, and simulated by MATLAB, then the evaluation model of static, dynamic and comprehensive characteristics of AGV motion control is established. Finally, the influence of control law parameters on motion control is analyzed, and a sliding mode genetic algorithm is proposed, and then the evaluation function is used as the fitness function of sliding mode genetic algorithm to optimize the control law parameters. The kinematic performance of AGV before and after optimization is compared to verify the importance of parameter optimization. 3. The upper and lower computer software of AGV control system are designed respectively. On the one hand, by analyzing the development environment of the lower computer, and based on the development language of TwinCAT PLC, the main program of AGV and the man-machine interface of the lower computer are designed, on the other hand, the function modules of the upper computer software are divided. Using Visual Studio software as host computer software development platform, XAML as interface language and C # as backstage design language, the upper computer software platform of WPF is designed. Finally, the communication scheme between the upper computer and the lower computer is designed. By debugging the control software, the communication and data transmission between the upper computer and the lower computer are realized, and the functions of each function module are tested. Thus, the software design and implementation of the control system are completed.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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