STM32单片机的四驱磁导航AGV控制器设计  

4-wheel Drive Magnetic Navigation AGV Controller Design Based on STM32

作　　者：史雄峰 杨光永[1] 陈跃斌[1] Shi Xiongfeng;Yang Guangyong;Chen Yuebin(College of Electric~Informative Engineering, Yunnan Minzu University, Kunming 650504, Chin)

机构地区：[1]云南民族大学电气信息工程学院,昆明650504

出　　处：《单片机与嵌入式系统应用》2018年第7期80-84,共5页Microcontrollers & Embedded Systems

基　　金：国家自然科学基金(61261022)

摘　　要：本文设计了一种以STM32F103ZET6为核心的四驱磁导航AGV控制器,并嵌入μC/OS-II实时操作系统进行软件设计,对系统进行多任务实时管理调度,实现磁导航AGV直行、转弯、避障、人机交互等功能,并设计了一种地标指令时隙纠错方法,以减小磁地标指令读取的误码率,同时设计并采用磁导航循迹偏差反馈补偿算法,以提高AGV行驶平稳性。最后,在AGV实验平台上验证表明,本文设计的控制器具有较强的动态响应性能及较高的动态稳定性。In the paper,a 4-wheel drive magnetic navigation automated guided vehicle controller based on STM32 F103 ZET6 micro-controller is designed.TheμC/OS-II real-time operating system is used for software design.By scheduling and managing multitasks,it can implement the functions of automated guided vehicle straight,turning,obstacle avoidance and human-computer interaction and so on.In order to reduce the error rate of reading the magnetic landmarks instruction,a method of correcting errors in the time slot of magnetic marker instruction is implemented.Meanwhile,a feedback control algorithm for track deviation of magnetic navigation is designed to improve the ride stability of AGV.Finally,the experiment results show that the controller designed in this paper has strong dynamic response performance and high dynamic stability.

关 键 词：STM32F103ZET6 AGV 实时操作系统 时隙纠错 循迹反馈补偿 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]