CN105005206A - AGV motion control semi-physical simulation system - Google Patents
AGV motion control semi-physical simulation system Download PDFInfo
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Abstract
The invention discloses an AGV motion control semi-physical simulation system. The system comprises an AGV motion simulation module, a communication module, an AGV man-machine interface module, an AGV controller module and a system monitoring computer module, wherein the AGV motion simulation module and the communication module are arranged in an embedded controller, the AGV man-machine interface module and the system monitoring computer module are arranged in a computer, the AGV motion simulation module is connected with and communicate with the AGV controller module through the communication module, the system monitoring computer module is connected with and communicates with the embedded controller through a network port, and at the same time, monitors internal data of the embedded controller through computer software, and the AGV man-machine interface module is connected with and communicate with the embedded controller through a network port. According to the invention, basis parameters of AGVs and storage yards, environment parameters and sensor states can be set, controller commands are received, motion states of the vehicles can be calculated in real time, sensor data is returned to the controller, the motion status of the vehicles in the storage yards can be dynamically displayed, and accordingly, debugging and performance testing of the controller are facilitated.
Description
Technical field
The present invention relates to a kind of motion control analogue system, be specifically related to a kind of AGV(automatic guided vehicles ystem based on embedded controller) motion control semi-matter simulating system, belong to robotics.
Background technology
Automatic guided vehicles ystem (being abbreviated as AGV) appears at the 1950's the earliest, starts the seventies popularize rapidly in developed countries such as Europe, the U.S., Japan and apply.At present, AGV(automatic guided vehicles ystem) in field widespread uses such as tobacco, automobile assembling, the coinage of print paper money, journalism and petroleum rock cores, present AGV is also applied in freight transportation gradually, can realize the automatic transportation of van container and heavy load goods.
The kinetic control system of AGV is made up of AGV location navigation (being abbreviated as NCS) and kinetic control system (being abbreviated as MCS).Usually, CANBus, Ethernet is passed through between NCS and MCS as Physical Links Layer, using CANOpen or EtherCAT as upper strata communications protocol.The NCS system of port and pier comprises following hardware: two Transponder induction antennas before and after the upper installation of Transponder, AGV of burying underground in storage yard, AGV upper installation gyroscope survey vehicle angular velocity, AGV upper installation wireless station and middle control communication, AGV upper installation navigation controller.Position fixing process mainly two processes of AGV: the position of the wheel steering angle that the vehicle wheel rotational speed returned according to wheel encoder, wheel limit scrambler return and the current AGV of vehicle angular speed calculation that gyroscope returns and attitude, this error adds up in time; At front and back antenna Transponder on ground simultaneously, correct position, cumulative errors reset.The debugging of current AGV motion controller and the test of performance need at true AGV vehicle, the vehicle namely having installed AGV and the stockyard being embedded with Transponder are carried out, can bring following point like this:
If 1. AGV motion controller exists larger problem, real vehicles is debugged, once AGV vehicle (having installed the vehicle of AGV) is out of control or device burns out and can bring larger economic loss, also very large to the security threat of commissioning staff;
2. be not easy to test AGV motion controller to windage, rainfall, the response condition of the external environment condition operating modes such as tire pressure;
3. be not easy to the response condition of test AGV motion controller when sensor and transponder break down;
4., for different stockyard map tests, need to test on different stockyards, feasibility is poor.
Through finding the literature search of prior art, Chinese utility model patent (application number 201220710160) proposes a kind of electric locomotive semi-matter simulating system, comprising: traction control unit, for simulating the hardware-in-the-loop simulation device of electric power locomotive transmission system main circuit and the signal conversion unit for changing signal transmission between described traction control unit and described hardware-in-the-loop simulation device; Described traction control unit is connected with described signal conversion unit, and described signal conversion unit is connected with described hardware-in-the-loop simulation device.The electric locomotive semi-matter simulating system that this utility model provides can solve high for the method for testing cost of transmission system performance employing in prior art, not have real-time problem, realizes, to the real-time testing of transmission system performance, reducing costs.But this utility model is only limitted to the test to electric locomotive transmission system performance, can not test car load motion.
Therefore carry out testing brought a lot of problems in real vehicles and stockyard for AGV motion controller, the semi-matter simulating system studying a kind of AGV of simulation motion has important practical significance to the debugging of AGV motion controller and the test of performance.
Summary of the invention
The object of the invention is to for the debugging of AGV controller in prior art and performance test true AGV vehicle and be embedded with Transponder stockyard on carry out brought series of problems, a kind of AGV motion control semi-matter simulating system based on embedded controller is provided, it can the motion of Reality simulation AGV vehicle (having installed the vehicle of AGV), external environment parameters can be set, calculate the motion state of AGV vehicle, and sensing data is returned to controller, the motion conditions of Dynamic Announce vehicle in stockyard, thus replace the mode of with true AGV vehicle, controller performance being carried out to on-the-spot test, reach economize energy, guarantee safety, avoid unexpected economic loss and the effect facilitating various working condition measurement.
The present invention is achieved by the following technical solutions:
A kind of AGV motion control semi-matter simulating system, it is characterized in that, described analogue system comprises: AGV motion simulation module, communication module, AGV human-computer interface module, AGV controller module and system monitoring computer module, wherein, AGV motion simulation module and communication module are arranged in embedded controller, AGV human-computer interface module and system monitoring computer module are arranged in computing machine, AGV motion simulation module to be connected with AGV controller module by communication module, and going forward side by side works interrogates, system monitoring computer module to be connected with embedded controller by network interface, and going forward side by side works interrogates, simultaneously by the internal data of computer software monitoring embedded controller, AGV human-computer interface module to be connected with embedded controller by network interface, and going forward side by side works interrogates.
Further, described AGV motion simulation module, after the order receiving described AGV controller module, calculates the motion conditions of AGV vehicle and result of calculation is fed back to this AGV controller module; Described AGV motion simulation module comprises following submodule: catenary motion dynamics module, road load module, motor module, differential module, steering gear module, vehicle kinematics module and Anneta module; Wherein:
Described catenary motion dynamics module is connected with AGV human-computer interface module with communication module, differential module, vehicle kinematics module respectively, the change of the angle of pitch of vehicle, side rake angle and vehicle wheel roll radius when being used for simulating pressure of tire change, when analyzing catenary motion dynamics, consider the change being assigned to power on each tire caused by change of vehicle centroid; This catenary motion dynamics module obtains the tire pressure change curve of each tire of vehicle that AGV controller module sends by communication module, the actual rolling radius of each wheel of vehicle is sent to differential module and vehicle kinematics module, vehicle pitch rate and side rake angle are sent to AGV human-computer interface module;
Described road load module is connected with motor module with communication module respectively, be used for simulation wind resistance and road load, by communication module, the parameter comprising wind speed, wind direction and rainfall that this road load module obtains that AGV controller module sends, is converted to electric motor load torque and exports and send to motor module;
Described motor module is connected with vehicle kinematics module with road load module, communication module, differential module respectively, be used for Reality simulation motor, coupling before and after considering between motor, the decoupling zero of front and back motor is realized by dynamic assignment electric motor load torque; This motor module obtains the motor command rotating speed of AGV controller module transmission by communication module, obtains electric motor load torque from road load module, is converted to the output of motor actual speed and sends to communication module, differential module and vehicle kinematics module;
Described differential module is connected with vehicle kinematics module with communication module, catenary motion dynamics module, motor module, steering gear module respectively, be used for Reality simulation differential mechanism, consider not mate at front and back motor speed, front and back steering angle does not mate the situation of the vehicle wheel side sliding edge rolling caused, and considers the situation of the wheel side sliding that vehicle wheel roll radius difference may cause; This differential module obtains vehicle wheel roll radius from catenary motion dynamics module, obtains motor speed from motor module, obtains wheel turning angle from steering gear module, and the actual speed being converted to each wheel exports and sends to communication module and vehicle kinematics module;
Described steering gear module is connected with vehicle kinematics module with communication module, differential module respectively, is used for Reality simulation steering gear, and comprise hydraulic system and tie rod linkage, former and later two tie rod linkages of vehicle are symmetrically distributed; This steering gear module obtains the left side wheel instruction corner of AGV controller module transmission by communication module, left side wheel actual rotational angle is drawn by described hydraulic system, draw right side wheels actual rotational angle by described tie rod linkage, each wheel steering angle is sent to communication module, differential module and vehicle kinematics module;
Described vehicle kinematics module is connected with AGV human-computer interface module with catenary motion dynamics module, motor module, differential module, steering gear module, Anneta module respectively, calculating according to vehicle wheel roll radius, motor speed, each vehicle wheel rotational speed and each wheel steering angle comprises under AGV vehicle keeps straight on, turns to sideslip various motion states, comprises the parameter of vehicle body velocities, angular velocity, vehicle center position and vehicle body angle; Vehicle body angular velocity is fed back to AGV controller module by communication module by this vehicle kinematics module, vehicle center position and vehicle body angle are sent to AGV human-computer interface module, on map, the motion of Dynamic Announce AGV vehicle, sends to Anneta module by the position of AGV vehicle and angle;
Described Anneta module is connected with vehicle kinematics module with communication module respectively, be used for Reality simulation antenna, this Anneta module obtains the antenna coordinate definition data of AGV controller module transmission by communication module, initialization is carried out to antenna, obtain position and the angle of AGV vehicle from vehicle kinematics module, antenna data is sent to communication module.
Further, described communication module is used for simulating the communication between actual AGV vehicle and AGV controller; This communication module comprises following submodule: CANOPEN interface module, gyroscope communication module, antenna communication module and vehicle wheel rotational speed scrambler communication module.
Further, described CANOPEN interface module is connected with described AGV controller module, and going forward side by side works interrogates; The data that this CANOPEN interface module receives comprise: initialization opening flag position, initiation parameter, front and back motor speed instruction, navigation controller are tightly stopped, the reset of AGV controller failure, navigation controller state, bus heartbeat feedback, AGV brake instruction, front and back drive axle revolver angle command, erasing recover magnetic nail parameter and middle environmental parameter; The data sent by this CANOPEN interface module are comprised: initialization complement mark, front-rear axle feedback speed, bus heartbeat transmission, local system be ready, model selection to automatic mode and local mode, wheel turning angle and the erasing of magnetic nail recover complement mark parameter.
Further, described gyroscope communication module is connected with described AGV controller module, and going forward side by side works interrogates; This gyroscope communication module, according to the angular velocity of actual gyro data formatted output AGV vehicle, simulates the output of actual AGV vehicle gyro data.
Further, described antenna communication module is connected with described AGV controller module, and going forward side by side works interrogates; This antenna communication module exports the information comprising antenna place, front and back magnetic nail numbering and coordinate according to actual antennas data layout, simulate the output of actual AGV vehicle antenna data.
Further, described vehicle wheel rotational speed scrambler communication module is connected with described AGV controller module, and going forward side by side works interrogates; This vehicle wheel rotational speed scrambler communication module exports the rotating speed of four wheels according to actual coding device data layout, simulate the output of actual AGV wheel of vehicle rotating speed coder data.
Further, described AGV human-computer interface module comprises following submodule: display module and load module; Wherein, display module is realized by described computer screen, and load module is realized by the keyboard of computing machine; This computing machine and described embedded controller are connected by network interface, and going forward side by side works interrogates.
Further, described AGV human-computer interface module has model selection homepage, automatically controls homepage and local control homepage; Described model selection homepage can select different map and control model, and wherein the information of map is loaded into automatically when starting described embedded controller; Described automatic control homepage can arrange the state parameter comprising sensor states and Transponder, and simulate the motion of AGV vehicle under described AGV controller module controls completely; Described this locality controls homepage and does not receive the instruction of described AGV controller module, and can arrange the basic parameter of AGV vehicle, lever operated on simulation AGV vehicle.
Further, described AGV controller module is connected with described communication module, and going forward side by side works interrogates, and is used for control AGV vehicle to move according to projected route, is the tested object in described AGV motion control semi-matter simulating system.
Compared with prior art, analogue system of the present invention can set the basic parameter in AGV vehicle and stockyard, environmental parameter and sensor states, the order of controller can be received, the motion state of real-time calculating AGV vehicle, sensing data is returned to controller, and the actual position of Dynamic Announce vehicle in stockyard and moving situation, thus instead of traditional approach AGV controller performance tested with true AGV vehicle, not only save the energy, reduce economic loss, can also test very easily various operating mode, facilitate debugging and the performance test of controller, also ensured the safety of commissioning staff simultaneously.
Accompanying drawing explanation
Fig. 1 is system architecture diagram of the present invention.
Fig. 2 is the structured flowchart of AGV motion simulation module of the present invention.
Embodiment
Elaborate to embodiments of the invention below in conjunction with accompanying drawing, the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Refer to Fig. 1, the whole analogue system of this example realizes in embedded controller, described AGV motion control semi-matter simulating system comprises five parts: AGV motion simulation module 1, communication module 2, AGV human-computer interface module 3, AGV controller module 4 and system monitoring computer module 5, wherein, AGV motion simulation module 1 and communication module 2 are arranged in embedded controller, and AGV human-computer interface module 3 and system monitoring computer module 5 are arranged in computing machine; AGV motion simulation module 1 to be connected with AGV controller module 4 by communication module 2, and going forward side by side works interrogates; System monitoring computer module 5 to be connected with embedded controller by network interface, and going forward side by side works interrogates, simultaneously by the internal data of the related software monitoring embedded controller on computing machine; AGV human-computer interface module 3 to be connected with embedded controller by network interface, and going forward side by side works interrogates; AGV controller module 4 is connected with described communication module 2, and going forward side by side works interrogates, and is used for control AGV vehicle to move according to projected route, is the tested object in described AGV motion control semi-matter simulating system.
Described AGV motion simulation module 1, after the order receiving described AGV controller module 4, calculates the motion conditions of AGV vehicle, and corresponding result of calculation is fed back to this AGV controller module 4.Refer to Fig. 2, described AGV motion simulation module 1 comprises following seven submodules: catenary motion dynamics module 6, road load module 7, motor module 8, differential module 9, steering gear module 10, vehicle kinematics module 11 and Anneta module 12.
Described catenary motion dynamics module 6 is connected with AGV human-computer interface module 3 with communication module 2, differential module 9, vehicle kinematics module 11 respectively, the change of the angle of pitch of vehicle, side rake angle and vehicle wheel roll radius when being used for simulating pressure of tire change.Due to the difference of each tyre inflating amount of vehicle, or wheel of vehicle center can be caused to change to the distance (rolling radius of wheel) on ground due to situations such as flat tyre, the motion state of vehicle can be made to change when the rolling radius of each tire does not wait.Analyze catenary motion dynamics time, the inclination due to vehicle body can cause vehicle centroid on the ground projected position change, so the change being assigned to power on each tire caused by change of vehicle centroid will be considered.This catenary motion dynamics module 6 obtains the tire pressure change curve of each tire of vehicle that AGV controller module 4 sends by communication module 2, the actual rolling radius of each wheel of vehicle is sent to differential module 9 and vehicle kinematics module 11, vehicle pitch rate and side rake angle are sent to AGV human-computer interface module 3.
Described road load module 7 is connected with motor module 8 with communication module 2 respectively, is used for simulation wind resistance and road load.Road load is made up of air resistance and resistance to rolling.Air resistance is mainly had an impact to vehicle by the effect of " road load ".Aerodynamic force and vehicle interact and produce resistance, lift (or load downwards), moment resulting from sidesway, pitching moment, yaw moment.These can have an impact to fuel economy, maneuverability, noise and vibration.When AGV vehicle travels with normal speed, suffered maximum and most important aerodynamic force is longitudinal resistance, so we only consider the impact of resistance on AGV vehicle movement.Resistance to rolling is that tire produces with direct contact the on ground, relevant with factors such as the dynamic load on each tire, pavement behavior, speed.Described road load module 7 obtains the parameter comprising wind speed, wind direction and rainfall etc. of AGV controller module 4 transmission by communication module 2, is converted to electric motor load torque and exports, send to motor module 8.
Described motor module 8 is connected with vehicle kinematics module 11 with road load module 7, communication module 2, differential module 9 respectively, is used for Reality simulation motor.Wherein need the coupling between motor before and after considering, the decoupling zero of front and back motor is realized by dynamic assignment electric motor load torque.This motor module 8 is second-order system, and after AGV controller module 4 sends front and back motor rotating speed of target instruction, motor module 8 controls output motor actual speed by PID, and is fed back to AGV controller module 4.Described motor module 8 obtains the motor command rotating speed of AGV controller module 4 transmission by communication module 2, electric motor load torque is obtained from road load module 7, be converted to motor actual speed to export, send to communication module 2, differential module 9 and vehicle kinematics module 11.
Described differential module 9 is connected with vehicle kinematics module 11 with communication module 2, catenary motion dynamics module 6, motor module 8, steering gear module 10 respectively, is used for Reality simulation differential mechanism.When turn inside diameter travels, the distance that outboard wheels is passed by than inboard wheel is long, vehicle is on uneven road surface during straight-line travelling, and the curve length that both sides wheel is passed by is also unequal, even if road surface is straight, different or the charge pressure of load that each tire bears is not etc., the rolling radius of each tire in fact can not be equal, if both sides wheel is all fixed on same rigid pivoted, two-wheeled angular velocity is equal, then must there is the phenomenon slided in rolling limit, limit in wheel, in order to ensure that two side drive wheel are in pure rolling state, just need to add differential mechanism between the axletree of both sides, therefore need to consider not mate at front and back motor speed, front and back steering angle does not mate the situation of the vehicle wheel side sliding edge rolling caused, and consider the situation of the wheel side sliding that vehicle wheel roll radius difference may cause.Described differential module 9 obtains vehicle wheel roll radius from catenary motion dynamics module 6, motor speed is obtained from motor module 8, obtain wheel turning angle from steering gear module 10, the actual speed being converted to each wheel exports, and sends to communication module 2 and vehicle kinematics module 11.
Described steering gear module 10 is connected with vehicle kinematics module 11 with communication module 2, differential module 9 respectively, is used for Reality simulation steering gear, and this steering gear comprises hydraulic system and tie rod linkage, and former and later two tie rod linkages of vehicle are symmetrically distributed.Have before and after AGV vehicle independently that hydraulic system is in order to drive wheel steering respectively, hydraulic cylinder controls track rod and moves, and track rod connects the knuckle arm on wheel, thus control AGV vehicle left side wheel turning angle; What AGV vehicle adopted is Integral steering trapezoidal mechanism structure, respectively there is a tie rod linkage front and back, be symmetrically distributed, the advantage of this structure is that AGV vehicle is when turning to, front and back wheel rotation direction is contrary, and radius of turn is reduced, and accelerates Vehicular turn, simultaneously by controlling to export suitable front and back wheel steering angle, make wheel pure rolling as far as possible.Described steering gear module 10 obtains the left side wheel instruction corner of AGV controller module 4 transmission by communication module 2, left side wheel actual rotational angle is drawn by described hydraulic system, draw right side wheels actual rotational angle by described tie rod linkage, each wheel steering angle is sent to communication module 2, differential module 9 and vehicle kinematics module 11.
Described vehicle kinematics module 11 respectively with catenary motion dynamics module 6, motor module 8, differential module 9, steering gear module 10, Anneta module 12 is connected 3 with AGV human-computer interface module, according to this catenary motion dynamics module 6, motor module 8, the vehicle wheel roll radius that differential module 9 and steering gear module 10 export, motor speed, each vehicle wheel rotational speed and each wheel steering angle, calculating comprises AGV vehicle and keeps straight on, turn to sideslip etc. under interior various motion states, comprise vehicle body velocities, angular velocity, vehicle center position and vehicle body angle etc. are in interior parameter.Vehicle body angular velocity is fed back to AGV controller module 10 by communication module 2 by described vehicle kinematics module 11, vehicle center position and vehicle body angle are sent to AGV human-computer interface module 3, on map, the motion of Dynamic Announce AGV vehicle, sends to Anneta module 12 by the position of AGV vehicle and angle.
Described Anneta module 12 is connected with vehicle kinematics module 11 with communication module 2 respectively, is used for Reality simulation antenna.This Anneta module 12 obtains the antenna coordinate definition data of AGV controller module 4 transmission by communication module 2, carries out initialization, obtain position and the angle of AGV vehicle, antenna data is sent to communication module 2 from vehicle kinematics module 11 antenna.Before and after on antenna and ground Transponder with the use of, Anneta module 12 carries out communication by communication module 2 and AGV controller module 4, and primary communications parameter has x, y coordinate of Transponder in antenna coordinate system, Transponder to number and system state.Transponder in stockyard is at a distance of 2 meters, and when antenna is through ground Transponder, Transponder coordinate is in antennas fed back to AGV controller module 4 with the system state value represented through magnetic nail by Anneta module 12; When antenna centerline is through ground Transponder, feed back to AGV controller module 4 one by system state value and cross over pulse; When antenna does not detect Transponder, inform AGV controller module 4 by system state value corresponding positions.
Refer to Fig. 1, described communication module 2 is used for simulating the communication between actual AGV vehicle and AGV controller 4.This communication module 2 comprises following submodule: CANOPEN interface module, gyroscope communication module, antenna communication module and vehicle wheel rotational speed scrambler communication module.
Described CANOPEN interface module is as from station interface, and being connected with described AGV controller module 4, going forward side by side works interrogates.The data that this CANOPEN interface module receives comprise: initialization opening flag position, initiation parameter, front and back motor speed instruction, navigation controller are tightly stopped, the reset of AGV controller failure, navigation controller state, bus heartbeat feedback, AGV brake instruction, front and back drive axle revolver angle command, erasing recover magnetic nail parameter and middle environmental parameter etc.; The data sent by this CANOPEN interface module are comprised: initialization complement mark, front-rear axle feedback speed, bus heartbeat transmission, local system be ready, model selection to automatic mode and local mode, wheel turning angle and the erasing of magnetic nail recover the parameters such as complement mark.
Described gyroscope communication module is connected with described AGV controller module 4, and going forward side by side works interrogates.This gyroscope communication module, according to the angular velocity of actual gyro data formatted output AGV vehicle, simulates the output of actual AGV vehicle gyro data.
Described antenna communication module is connected with described AGV controller module 4, and going forward side by side works interrogates.This antenna communication module exports the information comprising antenna place, front and back magnetic nail numbering and coordinate etc. according to actual antennas data layout, simulate the output of actual AGV vehicle antenna data.
Described vehicle wheel rotational speed scrambler communication module is connected with described AGV controller module 4, and going forward side by side works interrogates.This vehicle wheel rotational speed scrambler communication module exports the rotating speed of four wheels according to actual coding device data layout, simulate the output of actual AGV wheel of vehicle rotating speed coder data.
Described computing machine and described embedded controller are connected by network interface, and going forward side by side works interrogates, and this computing machine has double-display screen and keyboard.Described system monitoring computer module 5 monitors data in embedded controller by the display screen of on computing machine.
Described AGV human-computer interface module 3 comprises following two submodules: display module and load module; Wherein, display module is realized by the another one display screen of described computing machine, and load module is realized by the keyboard of computing machine.Described AGV human-computer interface module 3 has three homepages: model selection homepage, automatically control homepage and local control homepage.Described model selection homepage can select different map and control model, and wherein the information of map is loaded into automatically when starting described embedded controller; Automatic control homepage is AGV automatic control mode, the i.e. complete motion by AGV controller module 4 control AGV vehicle, described automatic control homepage can arrange the state parameter comprising sensor states and Transponder, and simulate the motion of AGV vehicle under described AGV controller module 4 controls completely; It is the local control model of AGV that described this locality controls homepage, namely locally controls the instruction that homepage does not receive described AGV controller module 4, and can arrange the basic parameter of AGV vehicle, lever operated on simulation AGV vehicle.
The concrete operations of described AGV human-computer interface module 3 and being described as follows:
Computing machine is opened AGV human interface software window, the IP of input embedded controller, after connection, first Dietary behavior selects homepage, model selection homepage can be selected control model be automatic control mode or local control model, automatic control mode is AGV vehicle and is controlled by AGV controller module 4, local control model does not then receive the instruction of AGV controller module 4, and the handle on simulation AGV vehicle controls AGV vehicle.Model selection homepage can also be selected different stockyard maps, and wherein cartographic information can be loaded into automatically when starting embedded controller, is realized by internal processes.Click after model selection homepage sets to determine to enter and automatically control homepage or local control homepage.
1. automatic control mode
Automatic control homepage major function has: AGV vehicle to move in display, stockyard Transponder dynamic display of information, vehicle side surface view and front view Dynamic Announce, vehicle pitch rate and side rake angle Dynamic Announce, sensor fault are arranged, AGV centre coordinate shows, vehicle wheel roll radius shows on the map of stockyard.What can also receive AGV controller module 4 transmission under automatic control mode will specify Transponder to arrange fault recovery normal instructions in stockyard.AGV vehicle moves on the map of stockyard, and display comprises Transponder display on stockyard, the display of stockyard coordinate, track display, AGV vehicle cargo shows and AGV vehicle movement shows; In stockyard, Transponder dynamic display of information refers to when left mouse button clicks certain Transponder on interface, can show numbering and the coordinate information of this Transponder; Vehicle side surface view and front view Dynamic Announce are the dynamic changes in order to observe the AGV angle of pitch and side rake angle in loss of tyre pressure situation; Sensor fault arranges and comprises front and back antenna failure and arrange and gyroscope fault verification, is used for the response condition of test AGV controller module 4 when sensor failure.
AGV controller module 4 sends initiation parameter, initialization opening flag position by CANOPEN interface module, AGV motion simulation module 1 pair of AGV vehicle in embedded controller carries out initialization, initiation parameter comprises AGV structural parameters, environmental parameter, antenna coordinate defined parameters, AGV initial position parameters etc., feeds back to AGV controller module 4 initialization complement mark position after completing initialization by CANOPEN interface module; AGV controller module 4 sends motion control instruction by CANOPEN interface module, AGV motion simulation module 1 in embedded controller simulates actual AGV vehicle movement according to motor speed instruction, drive axle angle command, brake instruction, tire pressure change instruction etc., AGV man-machine interface shows AGV vehicle movement and coordinate information etc.; Embedded controller feeds back to the parameters such as AGV controller module 4 front-rear axle feedback speed, wheel turning angle and model selection by CANOPEN interface module, AGV controller module 4 four vehicle wheel rotational speeds are fed back to by vehicle wheel rotational speed scrambler communication module, feed back to AGV controller module 4 vehicle body rotational angular velocity by gyroscope communication module, feed back to antenna data before and after AGV controller module 4 by antenna communication module.Under simultaneously AGV controller module 4 can be sent and specified magnetic nail damage information to measure this kind of operating mode by CANOPEN interface module, the response condition of AGV controller module 4; The response condition measuring AGV controller module 4 can be damaged by AGV man-machine interface setting specified sensor.
2. local control model
The local homepage major function that controls has: AGV vehicle move on the map of stockyard, and Transponder dynamic display of information in display, stockyard, vehicle parameter set, operation Initial parameter sets, track selection, the input of motor target velocity, the input of revolver target rotation angle, left and right turn order input, brake instruction, the display of vehicle center coordinate etc.Vehicle parameter setting is used for setting the vehicle structural parameters such as AGV vehicle vehicle commander, overall width, diameter of tyres, tire weight; Run Initial parameter sets to be used for setting wind direction, wind speed, tire pressure, suspension type, vehicle body direction, load, front antenna place Transponder numbering etc.
Local control model simulating handle operation, does not receive the instruction of AGV controller module 4, after AGV man-machine interface completes vehicle parameter, motion initial parameter, track selection setting, clicks start button and completes initializing set; By motor target velocity instruction setting motor speed, AGV vehicle setting in motion; By revolver target rotation angle instruction setting drive axle revolver corner, AGV vehicle starts to turn to; By left and right turn instruction, AGV Vehicular turn is adjusted, simulating handle; AGV vehicle parking is made by brake instruction.
Claims (10)
1. an AGV motion control semi-matter simulating system, it is characterized in that, described analogue system comprises: AGV motion simulation module, communication module, AGV human-computer interface module, AGV controller module and system monitoring computer module, wherein, AGV motion simulation module and communication module are arranged in embedded controller, AGV human-computer interface module and system monitoring computer module are arranged in computing machine, AGV motion simulation module to be connected with AGV controller module by communication module, and going forward side by side works interrogates, system monitoring computer module to be connected with embedded controller by network interface, and going forward side by side works interrogates, simultaneously by the internal data of computer software monitoring embedded controller, AGV human-computer interface module to be connected with embedded controller by network interface, and going forward side by side works interrogates.
2. AGV motion control semi-matter simulating system as claimed in claim 1, it is characterized in that, described AGV motion simulation module, after the order receiving described AGV controller module, calculates the motion conditions of AGV vehicle and result of calculation is fed back to this AGV controller module; Described AGV motion simulation module comprises following submodule: catenary motion dynamics module, road load module, motor module, differential module, steering gear module, vehicle kinematics module and Anneta module; Wherein:
Described catenary motion dynamics module is connected with AGV human-computer interface module with communication module, differential module, vehicle kinematics module respectively, the change of the angle of pitch of vehicle, side rake angle and vehicle wheel roll radius when being used for simulating pressure of tire change, when analyzing catenary motion dynamics, consider the change being assigned to power on each tire caused by change of vehicle centroid; This catenary motion dynamics module obtains the tire pressure change curve of each tire of vehicle that AGV controller module sends by communication module, the actual rolling radius of each wheel of vehicle is sent to differential module and vehicle kinematics module, vehicle pitch rate and side rake angle are sent to AGV human-computer interface module;
Described road load module is connected with motor module with communication module respectively, be used for simulation wind resistance and road load, by communication module, the parameter comprising wind speed, wind direction and rainfall that this road load module obtains that AGV controller module sends, is converted to electric motor load torque and exports and send to motor module;
Described motor module is connected with vehicle kinematics module with road load module, communication module, differential module respectively, be used for Reality simulation motor, coupling before and after considering between motor, the decoupling zero of front and back motor is realized by dynamic assignment electric motor load torque; This motor module obtains the motor command rotating speed of AGV controller module transmission by communication module, obtains electric motor load torque from road load module, is converted to the output of motor actual speed and sends to communication module, differential module and vehicle kinematics module;
Described differential module is connected with vehicle kinematics module with communication module, catenary motion dynamics module, motor module, steering gear module respectively, be used for Reality simulation differential mechanism, consider not mate at front and back motor speed, front and back steering angle does not mate the situation of the vehicle wheel side sliding edge rolling caused, and considers the situation of the wheel side sliding that vehicle wheel roll radius difference may cause; This differential module obtains vehicle wheel roll radius from catenary motion dynamics module, obtains motor speed from motor module, obtains wheel turning angle from steering gear module, and the actual speed being converted to each wheel exports and sends to communication module and vehicle kinematics module;
Described steering gear module is connected with vehicle kinematics module with communication module, differential module respectively, is used for Reality simulation steering gear, and comprise hydraulic system and tie rod linkage, former and later two tie rod linkages of vehicle are symmetrically distributed; This steering gear module obtains the left side wheel instruction corner of AGV controller module transmission by communication module, left side wheel actual rotational angle is drawn by described hydraulic system, draw right side wheels actual rotational angle by described tie rod linkage, each wheel steering angle is sent to communication module, differential module and vehicle kinematics module;
Described vehicle kinematics module is connected with AGV human-computer interface module with catenary motion dynamics module, motor module, differential module, steering gear module, Anneta module respectively, calculating according to vehicle wheel roll radius, motor speed, each vehicle wheel rotational speed and each wheel steering angle comprises under AGV vehicle keeps straight on, turns to sideslip various motion states, comprises the parameter of vehicle body velocities, angular velocity, vehicle center position and vehicle body angle; Vehicle body angular velocity is fed back to AGV controller module by communication module by this vehicle kinematics module, vehicle center position and vehicle body angle are sent to AGV human-computer interface module, on map, the motion of Dynamic Announce AGV vehicle, sends to Anneta module by the position of AGV vehicle and angle;
Described Anneta module is connected with vehicle kinematics module with communication module respectively, be used for Reality simulation antenna, this Anneta module obtains the antenna coordinate definition data of AGV controller module transmission by communication module, initialization is carried out to antenna, obtain position and the angle of AGV vehicle from vehicle kinematics module, antenna data is sent to communication module.
3. AGV motion control semi-matter simulating system as claimed in claim 1, it is characterized in that, described communication module is used for simulating the communication between actual AGV vehicle and AGV controller; This communication module comprises following submodule: CANOPEN interface module, gyroscope communication module, antenna communication module and vehicle wheel rotational speed scrambler communication module.
4. AGV motion control semi-matter simulating system as claimed in claim 3, it is characterized in that, described CANOPEN interface module is connected with described AGV controller module, and going forward side by side works interrogates; The data that this CANOPEN interface module receives comprise: initialization opening flag position, initiation parameter, front and back motor speed instruction, navigation controller are tightly stopped, the reset of AGV controller failure, navigation controller state, bus heartbeat feedback, AGV brake instruction, front and back drive axle revolver angle command, erasing recover magnetic nail parameter and middle environmental parameter; The data sent by this CANOPEN interface module are comprised: initialization complement mark, front-rear axle feedback speed, bus heartbeat transmission, local system be ready, model selection to automatic mode and local mode, wheel turning angle and the erasing of magnetic nail recover complement mark parameter.
5. AGV motion control semi-matter simulating system as claimed in claim 3, it is characterized in that, described gyroscope communication module is connected with described AGV controller module, and going forward side by side works interrogates; This gyroscope communication module, according to the angular velocity of actual gyro data formatted output AGV vehicle, simulates the output of actual AGV vehicle gyro data.
6. AGV motion control semi-matter simulating system as claimed in claim 3, it is characterized in that, described antenna communication module is connected with described AGV controller module, and going forward side by side works interrogates; This antenna communication module exports the information comprising antenna place, front and back magnetic nail numbering and coordinate according to actual antennas data layout, simulate the output of actual AGV vehicle antenna data.
7. AGV motion control semi-matter simulating system as claimed in claim 3, it is characterized in that, described vehicle wheel rotational speed scrambler communication module is connected with described AGV controller module, and going forward side by side works interrogates; This vehicle wheel rotational speed scrambler communication module exports the rotating speed of four wheels according to actual coding device data layout, simulate the output of actual AGV wheel of vehicle rotating speed coder data.
8. AGV motion control semi-matter simulating system as claimed in claim 1, it is characterized in that, described AGV human-computer interface module comprises following submodule: display module and load module; Wherein, display module is realized by described computer screen, and load module is realized by the keyboard of computing machine; This computing machine and described embedded controller are connected by network interface, and going forward side by side works interrogates.
9. AGV motion control semi-matter simulating system as claimed in claim 1, is characterized in that, described AGV human-computer interface module has model selection homepage, automatically controls homepage and local control homepage; Described model selection homepage can select different map and control model, and wherein the information of map is loaded into automatically when starting described embedded controller; Described automatic control homepage can arrange the state parameter comprising sensor states and Transponder, and simulate the motion of AGV vehicle under described AGV controller module controls completely; Described this locality controls homepage and does not receive the instruction of described AGV controller module, and can arrange the basic parameter of AGV vehicle, lever operated on simulation AGV vehicle.
10. AGV motion control semi-matter simulating system as claimed in claim 1, it is characterized in that, described AGV controller module is connected with described communication module, and going forward side by side works interrogates, being used for control AGV vehicle moves according to projected route, is the tested object in described AGV motion control semi-matter simulating system.
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