固定路径自动引导车(AGV)的控制系统设计

毕业设计(论文)固定路径自动引导车（AGV）的控制系统设计系别自动化工程系专业自动化班级5060307姓名贾立峰指导教师王凤文2010年6月10日东北大学秦皇岛分校毕业设计（论文）第I页固定路径自动引导车（AGV）的控制系统设计摘要随着工厂自动化、计算机集成制造系统技术的逐步发展以及柔性制造系统、自动化立体仓库的广泛应用，AGV(AutomatieGuidedVehiele)即自动导引车作为联系和调节离散型物流系统以使其作业连续化的必要的自动化搬运装卸手段，其应用范围和技术水平得到了迅猛的发展。AGV是以微控制器为控制核心、蓄电池为动力、装有非接触导引装置的无人驾驶自动导引运载车，其自动作业的基本功能是导向行驶、认址停准和移交载荷。作为当代物流处理自动化的有效手段和柔性制造系统的关键设备，AGV已经得到了越来越广泛的应用，对AGV的研究也具有十分重要的理论意义和现实意义。本文设计了一台固定路径自动引导车，采用了红外反射式光电传感器作为AGV的寻航检测装置，蓄电池和直流马达作为驱动装置，舵机作为方向控制装置，使用单片机作为控制器来控制各个模块协同工作，以实现自动导航。关键词：单片机，AGV，红外传感器，PID东北大学秦皇岛分校毕业设计（论文）第II页AfixedpathAutomaticGuidedVehicle(AGV)controlsystemdesignAuthor:JiaLifengTutor:WangFengwenAbstractAsthefactoryautomation,computerintegratedmanufacturingsystemstechnology,aswellastheprogressivedevelopmentofflexiblemanufacturingsystems,AGV(AutomatieGuidedVehiele)isautomaticallyguidedvehicleasanassociateandregulationofdiscretelogisticssystemtomakeitnecessaryforcontinuousoperationautomatedtransportloadingandunloadingmeans,itsscopeofapplicationandleveloftechnologyhasseenrapiddevelopment.AGVisamicro-controllertocontrolthecore,equippedwithanon-contactguidingdevices,unmannedautomaticguidedtransportvehicles,itsautomaticoperation'sbasicfunctionistoguidetrafficandidentifyingpotentialsitesandthetransferofloadtostop.Asacontemporaryandeffectivelogisticsprocessautomationtools,keyequipment,AGVhasbeenmoreandmorewidelyused,thestudyoftheAGVisalsoofgreattheoreticalandpracticalsignificance.Inthearticle,afixedrouteautomaticguidedvehicle,usinganinfraredreflectivephotoelectricsensorasAGV'ssearchflighttestingdevices,batteriesandDCmotorasthedrive,steeringgearasthedirectionalcontroldevice,theuseofintelligentcontroltocontrolallmodulesworktogethertoachievetheautomaticguidedvehicleautomaticnavigation.Keywords:microcontroller,AGV,infraredsensors,PID东北大学秦皇岛分校毕业设计（论文）第III页目录第一章绪论..............................................................................................................................11.1论文研究的意义与目的...................................................................................................11.2AGV简介..........................................................................................................................11.2.1AGV的定义................................................................................................................11.2.2AGV的系统结构........................................................................................................21.2.3AGV的特点与应用....................................................................................................31.2.4AGV的分类及引导方式............................................................................................41.3AGV的现状与发展..........................................................................................................51.4论文的主要研究内容及组织结构...................................................................................61.4.1论文的主要研究内容.................................................................................................61.4.2论文的组织结构.........................................................................................................6第二章AGV控制系统硬件组成............................................................................................72.1AGV的控制系统总体设计..............................................................................................72.2单片机控制系统...............................................................................................................82.2.1AT89C51单片机简介.................................................................................................82.2.2外围电路介绍...........................................................................................................102.3闭环PWM调速系统......................................................................................................122.4红外反射式光电传感器.................................................................................................142.5速度测量系统.................................................................................................................162.6电机驱动电路.................................................................................................................172.7障碍物检测系统.............................................................................................................202.8舵机.................................................................................................................................21第三章系统软件设计............................................................................................................243.1PID控制器在电机调速中的应用..................................................................................243.1.1PID控制算法简介....................................................................................................243.1.2PID控制器软件实现................................................................................................253.2中断系统设计.................................................................................................................273.2.1中断的控制........................