AGV观光车运行控制系统设计论文.doc

PAGE IV PAGE III AGV观光车运行控制系统设计 摘 要 AGV即自动导引小车，指装备有电磁或光学等自动导引装置，能够沿规定的导引路径行驶，具有安全保护以及各种移载功能的运输车，工业应用中不需驾驶员的搬运车，以可充电之蓄电池为其动力来源。一般可透过电脑来控制其行进路线以及行为，或利用电磁轨道来设立其行进路线，电磁轨道黏贴于地板上，自动导引车则依循电磁轨道所带来的讯息进行移动与动作。 本次设计完成原车的总体结构分析和电路图的绘制，在原车的基础上融入新的自动控制系统，选定以单片机微控制器的作为核心进行运动控制系统设计。设计过程如下： 首先，搜集关于AGV的资料，了解AGV的国内外发展现状及趋势，对课题有一个明确的把握，同时熟悉电动车的驱动系统原理及其控制方式，掌握本课题设计中所用到的辅助软件并能熟练使用； 其次，通过对原车相关资料的学习及对车体必要的拆卸，对原车进行总体结构分析，包括车的主要部件构成，各部件作用及相互之间的连接关系。在此基础上，通过对线路的实际观察、电流检测及线路去向检测，绘制出原车的总体电路图，从而对该观光车的构造有较全面的认识，并对下一步的改造设计打好基础； 再次，设计电机驱动部分。本次设计中包含两种电机，驱动电机和转向电机，要能够实现小车的前进、后退、停止，及转向角度的控制，转向需要编码器作为角度测量反馈。驱动电机上装有旋转编码器，能对小车的速度进行实时检测； 最后，CAN总线传输设计。确定CAN信息格式，本车作为CAN接收时，接受上位机控制指令，作为发送器时，发送本车运行状态参数。 关键词：AGV，电动车，单片机，伺服驱动，转向控制，速度检测，CAN通信 The Design of Servo Operation Control System of AGV Sightseeing Vehicle ABSTRACT AGV automatic guided vehicles, equipped with electromagnetic or optical automatic guiding device, such as can be guided by the along a prescribed path, with security protection as well as a variety of transfer function of transporters, industrial applications do not need the drivers truck, with the rechargeable battery as its power source. General can through the computer to control the route as well as behavior, or the use of electromagnetic rail to set up the path, the electromagnetic rail taped to the floor. This design first to complete the original car circuit diagram and the drawing of the overall structure of the analysis, on the basis of the original car into new automatic control system, selected by single-chip microcontroller as the core of motor control system design. The design process is as follows: First of all, to gather information about AGV, understanding domestic and foreign development present situation and trend of AGV, has a clear grasp of subject, at the same time familiar with the electric drive system principle and control mode, control ancillary software used in the design of this topic and can skilled use. Secondly, through the study and the materials of the origina