基于MC9S12XS128MAL控制的光电导引式AGV  

Photoelectric guided AGV based on MC9S12XS128MAL

作　　者：刘波[1] 汪宇辰[1] 梁伟健[1] 叶波[1] 周杰[1] 

机构地区：[1]重庆大学机械工程学院,重庆400030

出　　处：《机电工程》2013年第7期837-841,共5页Journal of Mechanical & Electrical Engineering

基　　金：教育部国家级大学生创新训练资助项目(1110611051)

摘　　要：针对目前国内自动导引运输车(AGV)体积大、价格贵的问题,在技术成熟的"飞思卡尔"智能汽车竞赛和价格低廉的电动轮椅车的基础上,设计了一款基于"飞思卡尔"MC9S12XS128MAL微处理器控制的经济型光电导引式AGV系统。在试验台上对超声波传感器进行了测试,确定了紧急情况下的避障距离;采用光电码盘测速,由液晶模块显示出AGV的实时速度;同时结合无刷直流电机驱动原理,提出了基于偏差累积算法的控制方法,实现了差动方式的无刷直流电机驱动AGV直线行驶和转弯的功能,最后通过实验验证了该控制方法的有效性。研究结果表明,此AGV系统响应迅速、运行稳定,很好地实现了AGV的自动控制。Aiming at the drawbacks that automatic guided vehicles （AGV） are bulky and expensive, a system based on Freescale micro pro- cessor MC9S12XS12$MAL was used to design the economic photoelectric guided AGV system with the sophisticated intelligent car racing of the Freescale cup and the cheep electric wheelchairs. Experimental study on the uhrosonic sensors was carried out on a test rig. The obasta- cle distance in emergency was measured experimentally. The LCD module was introduced to display the real time velocity with using photoe- lectric encoders. Two brushless DC motors were used to drive the wheels, the deviation accumulated algorithm was proposed, The function was realized that the brushless DC motors successfully drive the AGV forward and to turn through differential control. At last, the control method was validated in the experiment. The results indicate that the AGV system is of quick dynamic response and stable operation, and the automatic control of the AGV is excellently realized.

关 键 词：自动导引运输车 MC9S12XS128MAL芯片 光电导引 超声波避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH39[自动化与计算机技术—控制科学与工程]