摘要
以S7-1200PLC作为主控,采用直流无刷电机驱动左右驱动轮,设计了一款能自动循迹的AGV搬运小车。使用前后的万向轮实现转弯,因此运行时易出现路线不平稳的问题。为实现小车的平稳运行,采用在AGV小车的前后两端各安装一个循迹传感器的方法,主控PLC通过查询循迹传感器的输出状态得出小车的偏移情况,并通过位置和速度的双闭环PID算法来调整AGV小车的左右驱动轮的速度差,从而实现小车位置的修正。实验表明,基于循迹传感器和双闭环PID算法的小车行进平稳。
An AGV that can automatically track is designed with the S7-1200 PLC as the main controller and with the DC brushless motors as the driving to drive the left and right drive wheels.The front and rear universal wheels are used to realize the turning,so the problem of unstable route is easy to occur during operation.In order to realize the smooth running of the AGV,two guiding-sensors are installed on the front and rear ends of the AGV.The offset position of the AGV which is obtained by the output state of the guiding-sensors is passed to the main PLC controller.The double closed-loop PID algorithm of position and speed is used to adjust the speed difference between the left and right drive wheels of the AGV, thereby to realize the correction of the AGV position.Experiments show that the AGV based on the guiding sensors and the double closed-loop PID algorithm travels smoothly.
作者
杨利
杨述
陈柳松
YANG Li;YANG Shu;CHEN Liu-song(Hunan Railway Professional Technology College,Zhuzhou 412000,China;Changsha Social Work College,Changsha 410000,China;CRRC ZIC Research Institute of Electrical Technology and Material Engineering,Zhuzhou 412000,China)
出处
《电子设计工程》
2019年第13期148-152,共5页
Electronic Design Engineering
基金
2017年湖南省教育厅科学研究项目(17C1039)
湖南铁道职业技术学院科研创新团队(KYTD201703)
