基于FreeRTOS的智能搬运小车新型控制研究

Research on New Control of Intelligent Carriage Based on FreeRTOS

针对传统PID控制调参难的问题,设计开发了一种新型控制系统,使智能搬运小车能够按照给定顺序搬运和取放物料。以STM32F407VE为主控芯片,基于FreeRTOS操作系统,实现了多个功能模块的并行运行;在找点时,小车采用了特有的条件找点算法,确保了系统的工作效率;在定位移动这一关键环节,利用机理建模原理,设计了以最佳输出为导向的新型控制算法,弥补了传统增量式PID控制的不足。实验结果表明,新型控制算法能够使小车运行稳定,并实现自动找点、物料抓取、搬运和放置等功能,具有较好效果。

Aiming at the difficulty of traditional PID control parameter adjustment,in this paper a new type of control system was designed and developed to enable the intelligent handling trolley to move and pick and place materials in a given order.This system is based on STM32 F407 VE as the main control chip and FreeRTOS operating system,so the program can realize parallel operation of multiple function modules.specially designed condition finding algorithm,to ensure the efficiency of the system,a specially designed condition finding algorithm.In the key part of positioning and moving,the shortcomings of traditional incremental PID control,the principle of mechanism modeling is used to design an optimal output-oriented control algorithm,so the shortcomings of traditional incremental PID control can be avoided.The experimental results show that the vehicle can run stably and realize automatic point finding,material handling and placement functions.The results also show that the designed system,has a good application effects and meets expected requirements.