超长车体AGV落布小车控制系统设计研究  

Design and research of control system of super long AGV cloth falling car

作　　者：段博 余联庆[1] 樊飞[2] DUAN Bo;YU Lianqing;FAN Fei(Wiuhan Textile University,Hubei Engineering Research Center for Intelligent Assembly of industrial detonators,Wuhan,China;Wuhan University,School of Dynamics and mechanics,Wuhan,China)

机构地区：[1]武汉纺织大学工业雷管智能装配湖北省工程研究中心,武汉 [2]武汉大学动力学与机械学院,武汉

出　　处：《自动化与仪器仪表》2020年第12期79-84,共6页Automation & Instrumentation

摘　　要：为了解决纺织车间人工落布搬运效率低,降低用工成本,提高自动化水平等问题,设计开发一款实用新型AGV自动落布小车。控制系统以西门子S7-1215C为控制核心,采用模块化的编程思想,设计控制系统的总体结构。针对超长车体规格,提出双驱(四轮)双向双磁导差速转向控制算法,并建立小车寻迹转向运动学模型,进行理论计算与分析,得出各驱动轮之间速度关系。最后设计模糊自适应PID控制器,并进行Matlab仿真实验,验证了控制系统采用模糊PID较常规PID具有更优的动静态稳定性,为后续控制系统优化设计奠定了基础。In order to solve the problems of low efficiency,lower labor cost and higher automation in textile workshop,a utility model AGV automatic cloth shedding trolley is designed and developed.The control system takes Siemens s7-1215 c as the control core and adopts the modular programming idea to design the overall structure of the control system.According to the specification of super long vehicle body,the magnetic navigation dual-drive(four-wheel)bi-directional differential steering control is designed,and the tracking steering kinematics model is established.The magnetic permeability control algorithm is introduced.Finally,the fuzzy self-adaptive PID controller is designed and Matlab simulation experiment is carried out.The analysis results show that the control wheel of the driving wheel with fuzzy PID has better dynamic and static stability than the conventional PID,which lays a foundation for the optimization design of the subsequent control system.

关 键 词：超长车体 双驱双向双磁导航 落布小车 模糊PID 常规PID 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]