| 双驱双向AGV控制系统设计 |
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| 引用本文： | 王殿君,吴超,陈亚,刘占民,关似玉. 双驱双向AGV控制系统设计[J]. 机床与液压, 2017, 45(5): 10-13. DOI: 10.3969/j.issn.1001-3881.2017.05.003 |
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| 作者姓名： | 王殿君 吴超 陈亚 刘占民 关似玉 |
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| 作者单位： | 北京石油化工学院机械工程学院,北京,102617 |
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| 基金项目： | 科技部863重点课题项目 |
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| 摘 要： | 以工业平板电脑+可编程多轴控制器(PMAC)构成开放式控制器硬件系统,采用面向对象的C++程序设计语言进行上位机控制系统软件开发。根据技术要求进行系统功能需求分析,采用模块化的思想,设计系统软件总体结构;介绍了导航模块纠偏算法的实现。最后以双驱动双向AGV为机械本体进行停车定位测试。结果表明:该AGV的平均定位精度为5.144 mm,最大的定位精度为9.232 mm,其精度满足要求,该控制系统软件较好地完成了导航定位任务。
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| 关 键 词： | 开放式控制器 双驱双向AGV 系统设计 导航模块 |
Design of Double Drive Two way AGV Control System |
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| WANG Dianjun,WU Chao,CHEN Ya,LIU Zhanmin,GUAN Siyu. Design of Double Drive Two way AGV Control System[J]. Machine Tool & Hydraulics, 2017, 45(5): 10-13. DOI: 10.3969/j.issn.1001-3881.2017.05.003 |
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| Authors: | WANG Dianjun WU Chao CHEN Ya LIU Zhanmin GUAN Siyu |
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| Abstract: | Based on the industrial tablet PC and the programmable multi-axes controller (PMAC), the hardware system of open architecture robot controller was constituted.Host computer control system software was developed by using object-oriented C++ programming language.The function of the system requirements was analyzed according to technical demands.The overall structure of the system software was designed by using the idea of modularization.The implementation of the algorithm for correcting navigation module was introduced.Finally, the parking location test was carried out by using double drive two-way AGV as mechanical frame.The results show that the average positioning accuracy of the AGV is 5.144 mm, the maximum positioning accuracy is 9.232 mm, the accuracy meets the requirements, the software of the control system can do well in completing the navigation and positioning tasks. |
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| Keywords: | Open robot controller Double drive two-way AGV System design Navigation module |
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