摘要
为设计一种低成本、抗干扰、稳定可靠的AGV,提出一种基于磁带导航的AGV系统。采用Megawin公司的80C51单片机为控制核心,以并排对称设计的霍尔传感器实现循迹和纠偏,红外光电传感器实现避障,并采用上位机对其进行监控。为达到AGV电机调速的稳定性与实时性,采用分数阶PID算法进行控制,通过Matlab软件进行建模与仿真,验证其可行性。最后,经实际应用场合验证,AGV小车具有抗干扰能力强,避障精度高,运行稳定安全等优点。
In order to design a low?cost,anti?interference,stable and reliable AGV,an AGV system based on magnetic navigation is proposed. The singlechip 80C51 made by Megawin Company is taken as the control core of the system. The Hall sen?sor with symmetrical design is used to realize the tracking and deviation rectification. The infrared photoelectric sensor is adopted to avoid the obstacles. The host computer is employed to monitor the system. In order to realize the stability and real?time perfor?mance of the AGV motor speed control,the fractional order PID algorithm is used to control the speed. The controller was modeled and simulated with Matlab software to verify its feasibility. The AGV has the advantages of strong anti?interference ability,high precision of obstacle avoidance,stable and safe operation,which were verified by the actual application.
作者
吕毅
戚志东
Lü Yi;QI Zhidong(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《现代电子技术》
北大核心
2017年第3期127-130,共4页
Modern Electronics Technique
基金
国家自然科学基金(61403199
61374153)
关键词
AGV
电磁导航
红外避障
分数阶PID
AGV
electromagnetic navigation
infrared obstacle avoidance
fractional order PID
