CN205263653U - SD type AGV gesture angle controlling means that backs a car based on control of two closed loop PID - Google Patents
SD type AGV gesture angle controlling means that backs a car based on control of two closed loop PID Download PDFInfo
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- CN205263653U CN205263653U CN201521098595.5U CN201521098595U CN205263653U CN 205263653 U CN205263653 U CN 205263653U CN 201521098595 U CN201521098595 U CN 201521098595U CN 205263653 U CN205263653 U CN 205263653U
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- attitude angle
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Abstract
The utility model discloses a SD type AGV gesture angle controlling means that backs a car based on control of two closed loop PID, including the controller, the controller setting is on the AGV automobile body, first magnetism navigation sensor, first magnetism navigation sensor sets up at the AGV locomotive, and first magnetism navigation sensor inserts the GPIO mouth of controller, second magnetism navigation sensor, second magnetism navigation sensor sets up at the AGV rear portion, and second magnetism navigation sensor insert the GPIO mouth of controller, the motion control ware, the motion control ware adopts CAN communication connection with the controller, servo closed loop control system, servo closed loop control system pass through RS485 and controller communication connection. The utility model discloses through two -stage PID control algorithm, reach the gesture angle that the AGV automobile body backed a car and beat the angle value, solved among the prior art technological problem that SD type AGV can only one -way walking lacks the function of backing a car.
Description
Technical field
The utility model relates to AGV field, relates in particular to a kind of SD type AGV reversing attitude angle control based on double closed-loop PID controlDevice processed.
Background technology
AGV is the abbreviation of AutomatedGuidedVehicle, and meaning i.e. " automatical pilot transportation vehicle ", refers to and is equipped with electromagnetismOr the homing guidance device such as optics, it can travel along the guide path of regulation, has safeguard protection and various transfer functionsTransport vehicle, AGV belongs to the category of wheeled mobile robot (WheeledMobileRobot).
AGV, can be along planning by being equipped with the homing guidance devices such as electromagnetism, optical gyroscope, laser navigation equipment or GPRSPath implement logistics carry task. Along with the raising of factory automation level and surging of cost of human resources, AGV is in stateInside obtain swift and violent development, be widely used in industries such as power electronics, household electrical appliances, tobaccos. Along with made in China 2015,The propelling in industry 4.0 and internet+epoch, AGV and AGVS are more added with very high development in modern manufacturing works and logistic industrySpace.
At present, widely used AGV is mainly small-sized submarine or pull-type vehicle, and the type of drive of employing is that front and back wheel is poorSpeed drives. SD type AGV adopts the mode of single wheel drive, and body construction adopts single wheel drive and turns to, and two-wheeled is as car body in additionBOGEY WHEEL. Based on single wheel drive and the mode that turns to, AGV is in reversing process for SD type, and control mode is more special, except needControl beyond the lateral deviating distance of car body, also need to control the attitude angle between car body and navigation magnetic stripe. Current existing SDType AGV can only unidirectional walking and lack the function of reversing, and flexibility is poor, therefore, based on actual functional requirement, needsSolve the problem of current SD type AGV reversing attitude angle control.
Utility model content
In order to overcome the shortcoming and defect existing in prior art, it is a kind of based on double closed-loop PID control that the utility model providesSD type AGV reversing attitude angle control device.
The utility model is achieved through the following technical solutions: a kind of SD type AGV reversing attitude based on double closed-loop PID controlAngle control, comprises
--controller, described controller is arranged on AGV car body;
--the first magnetic navigation sensor, described the first magnetic navigation sensor is arranged on AGV headstock, and described the first magnetic navigation sensor connectsEnter the GPIO mouth to described controller;
--the second magnetic navigation sensor, described the second magnetic navigation sensor is arranged on AGV rear portion, and described the second magnetic navigation sensor connectsEnter the GPIO mouth to described controller;
--motion controller, described motion controller is arranged on AGV car body, and described motion controller and controller adopt CAN logicalLetter connects;
--servo closed control system, described servo closed control system is by RS485 and controller communication connection, thus reception appearanceInstruction is adjusted at state angle.
Further, described closed loop servo-control system comprises servo-driver, the rotary encoder and servo of mutual communication connectionSteer motor.
Further, described controller is STM32F103ZTE chip.
Further, described controller adopts LQFP packing forms.
Further, described the first magnetic navigation sensor and the second magnetic navigation sensor are respectively 16 magnetic navigation sensors and 8Magnetic navigation sensor, and the first magnetic navigation sensor and the second magnetic navigation sensor employing NPN input.
Further, the installing space D of described the first magnetic navigation sensor and the second magnetic navigation sensor is 188cm.
With respect to prior art, the SD type AGV reversing attitude angle control device based on double closed-loop PID control of the present utility model is logicalCross the first magnetic navigation sensor and the second magnetic navigation sensor are set on AGV, and by the detected value input control device of the two, warpCross two-stage pid control computation, show that the attitude angle of AGV car body reversing is beaten angle value, solved that in prior art, SD type AGV can onlyUnidirectional walking lacks the technical barrier of car-backing function, has breakthrough, in SD type AGV field, has very strong directive significanceAnd promotional value.
In order to understand better and to implement, describe the utility model in detail below in conjunction with accompanying drawing.
Brief description of the drawings
Fig. 1 is the connection diagram of the SD type AGV reversing attitude angle control device based on double closed-loop PID control of the present utility model.
Fig. 2 is the installation site schematic diagram of magnetic navigation sensor.
Fig. 3 is the motion mathematical model figure of SD type AGV.
Fig. 4 is the system controller chassis of the SD type AGV reversing attitude angle control method based on double closed-loop PID control of the present utility modelFigure.
Detailed description of the invention
Refer to Fig. 1-Fig. 4. Fig. 1 is the SD type AGV reversing attitude angle control based on double closed-loop PID control of the present utility modelThe connection diagram of device. Fig. 2 is the installation site schematic diagram of magnetic navigation sensor. Fig. 3 is the motion mathematical modulo of SD type AGVType figure. Fig. 4 is the system control of the SD type AGV reversing attitude angle control method based on double closed-loop PID control of the present utility modelBlock diagram. SD type AGV reversing attitude angle control device based on double closed-loop PID control of the present utility model, comprises
--controller 3, controller 3 is arranged on AGV car body;
--the first magnetic navigation sensor 1, the first magnetic navigation sensor 1 is arranged on AGV headstock, and the first magnetic navigation sensor 1 accessesTo the GPIO mouth of controller 3;
--what the second magnetic navigation sensor 2, the second magnetic navigation sensors 2 were arranged on AGV rear portion lands fork place, and the second magnetic navigation passesSensor 2 is linked into the GPIO mouth of controller 3;
--motion controller 4, motion controller 4 is arranged on AGV car body, and motion controller 4 adopts CAN logical with controller 3Letter connects, and the action command that controller 3 sends by receiving motion controller 4, carries out corresponding algorithm routine;
--servo closed control system, servo closed control system is by RS485 and controller communication connection, thus reception attitude angleAdjust instruction.
Particularly, closed loop servo-control system comprises servo-driver, rotary encoder and the servo steering electricity of mutual communication connectionMachine, servo steering motor is realized turning to of driving wheel by the mode of gear. The controller 3 of the present embodiment is STM32F103ZTEChip also adopts LQFP packing forms.
The first magnetic navigation sensor 1 and the second magnetic navigation sensor 2 are respectively 16 magnetic navigation sensors and 8 magnetic navigation sensingsDevice, and the first magnetic navigation sensor 1 and the second magnetic navigation sensor 2 adopt NPN input, and the input signal of the two is through softwareFiltering processing, eliminate noise jamming to algorithm. The present embodiment is preferably by the first magnetic navigation sensor 1 and the second magnetic navigationThe installing space D of sensor 2 is set to D=188cm, and, preferably by the middle position value of the first magnetic navigation sensor 1SP1 is set to SP1=7.5cm, and the middle position value SP2 of the second magnetic navigation sensor 2 is set to SP2=3.5cm.
In order to understand better the utility model, the present embodiment has preferably indicated front-wheel 10, the trailing wheel 20 of AGV in Fig. 2And be arranged on the navigation magnetic stripe 30 under AGV car body. The front-wheel 10 of the present embodiment is the driving wheel of AGV car body, two trailing wheels20 is the BOGEY WHEEL of AGV car body.
SD type AGV reversing attitude angle control device based on double closed-loop PID control of the present utility model adopts two in control algolithmThe control method of level double closed-loop PID, illustrates the method below, and it comprises the following steps:
S1: the default middle position value SP1 of the first magnetic navigation sensor and the middle position value SP2 of the second magnetic navigation sensor.
By arithmetic and control unit 4, the motion of AGV car body is preset the centre bit of first magnetic navigation sensor of the present embodimentThe value of putting SP1 is preset as 7.5cm, and the middle position value SP2 of the second magnetic navigation sensor is preset as 3.5cm.
S2: according to the actual detected value PV1 of the first magnetic navigation sensor, calculate the center that obtains the first magnetic navigation sensor
The difference E1 of value SP1 and actual detected value PV1, wherein, E1=SP1-PV1.
According to the actual detected value PV2 of the second magnetic navigation sensor, calculate the center that obtains the second magnetic navigation sensor
The difference E2 of value SP2 and actual detected value PV2, wherein, E2=SP2-PV2.
Refer to Fig. 2, when AGV car body is during in steady operational status or original state, the first magnetic navigation sensor 1 and secondThe center of magnetic navigation sensor 2 be all positioned at navigation magnetic stripe 30 directly over, now, E1=0, E2=0.
S3: E2 is carried out to the PID computing of first order range deviation and exports operation result SP3.
S4: according to the installing space D of the first magnetic navigation sensor and the second magnetic navigation sensor and E1 and E2, calculate and obtain in fact
The calculated value PV3 of border attitude angle, wherein, PV3=(E2-E1)/D.
As shown in Figure 3, the direction of arrow represents that AGV car body is in reversing state, wherein, and the folder between AGV car body and directions XAngle θ represents the actual attitude angle of AGV car body, by geometrical relationship, can calculate the calculated value of the actual attitude angle θ of AGV car bodyPV3=(E2-E1)/D. The calculated value PV3 of actual attitude angle θ is as the default input attitude angle value of second level attitude angle PID computing.
S5: calculate the difference E3 that obtains preset posture angle and actual attitude angle, wherein, E3=SP3-PV3.
According to the motion mathematical model of SD type AGV, using the difference E3 of the preset posture angle calculating and actual attitude angle asThe input value that second level attitude angle PID controls.
S6: the input value using E3 as second level attitude angle PID computing, computing Output rusults α is the appearance of AGV car body reversingAngle value is beaten at state angle.
According to the result of calculation of second level attitude angle PID computing, the instruction of attitude angle being beaten to angle value α sends closed loop servo control toThe servo steering motor of system, thus the attitude angle that AGV car body is moveed backward controlled reposefully.
With respect to prior art, the SD type AGV reversing attitude angle control device based on double closed-loop PID control of the present utility model is logicalCross the first magnetic navigation sensor and the second magnetic navigation sensor are set on AGV, and by the detected value input control device of the two, warpCross two-stage pid control computation, show that the attitude angle of AGV car body reversing is beaten angle value, solved that in prior art, SD type AGV can onlyUnidirectional walking lacks the technical barrier of car-backing function, has breakthrough, in SD type AGV field, has very strong directive significanceAnd promotional value.
The utility model is not limited to above-mentioned embodiment, if various changes of the present utility model or distortion are not departed to this realityBy novel spirit and scope, if within these changes and distortion belong to claim of the present utility model and equivalent technologies scope,The utility model is also intended to comprise these changes and distortion.
Claims (6)
1. the reversing of the SD type AGV based on a double closed-loop PID control attitude angle control device, is characterized in that: comprise
--controller, described controller is arranged on AGV car body;
--the first magnetic navigation sensor, described the first magnetic navigation sensor is arranged on AGV headstock, and described the first magnetic navigation sensor connectsEnter the GPIO mouth to described controller;
--the second magnetic navigation sensor, described the second magnetic navigation sensor is arranged on AGV rear portion, and described the second magnetic navigation sensor connectsEnter the GPIO mouth to described controller;
--motion controller, described motion controller is arranged on AGV car body, and described motion controller and controller adopt CAN logicalLetter connects;
--servo closed control system, described servo closed control system is by RS485 and controller communication connection, thus reception appearanceInstruction is adjusted at state angle.
2. the SD type AGV reversing attitude angle control device based on double closed-loop PID control according to claim 1, its feature existsIn: described closed loop servo-control system comprises servo-driver, rotary encoder and the servo steering motor of mutual communication connection.
3. the SD type AGV reversing attitude angle control device based on double closed-loop PID control according to claim 1, its feature existsIn: described controller is STM32F103ZTE chip.
4. the SD type AGV reversing attitude angle control device based on double closed-loop PID control according to claim 1, its feature existsIn: described controller adopts LQFP packing forms.
5. the SD type AGV reversing attitude angle control device based on double closed-loop PID control according to claim 1, its feature existsIn: described the first magnetic navigation sensor and the second magnetic navigation sensor are respectively 16 magnetic navigation sensors and 8 magnetic navigationsSensor, and the first magnetic navigation sensor and the second magnetic navigation sensor employing NPN input.
6. the SD type AGV reversing attitude angle control device based on double closed-loop PID control according to claim 1, its feature existsIn: the installing space D of described the first magnetic navigation sensor and the second magnetic navigation sensor is 188cm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521098595.5U CN205263653U (en) | 2015-12-23 | 2015-12-23 | SD type AGV gesture angle controlling means that backs a car based on control of two closed loop PID |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521098595.5U CN205263653U (en) | 2015-12-23 | 2015-12-23 | SD type AGV gesture angle controlling means that backs a car based on control of two closed loop PID |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106909160A (en) * | 2015-12-23 | 2017-06-30 | 广东科达洁能股份有限公司 | A kind of SD types AGV reversing attitude angle control device and methods based on two-loop system |
| CN108919812A (en) * | 2018-08-02 | 2018-11-30 | 佛山市兴颂机器人科技有限公司 | robot driving device and robot |
| CN115042188A (en) * | 2022-07-19 | 2022-09-13 | 无锡军工智能电气股份有限公司 | Double-correction magnetic navigation control method for underground inspection robot |
-
2015
- 2015-12-23 CN CN201521098595.5U patent/CN205263653U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106909160A (en) * | 2015-12-23 | 2017-06-30 | 广东科达洁能股份有限公司 | A kind of SD types AGV reversing attitude angle control device and methods based on two-loop system |
| CN106909160B (en) * | 2015-12-23 | 2023-07-07 | 广东科达洁能股份有限公司 | SD-type AGV reversing attitude angle control device based on double-closed-loop PID control |
| CN108919812A (en) * | 2018-08-02 | 2018-11-30 | 佛山市兴颂机器人科技有限公司 | robot driving device and robot |
| CN115042188A (en) * | 2022-07-19 | 2022-09-13 | 无锡军工智能电气股份有限公司 | Double-correction magnetic navigation control method for underground inspection robot |
| CN115042188B (en) * | 2022-07-19 | 2024-04-30 | 无锡军工智能电气股份有限公司 | Double-correction magnetic navigation control method for underground inspection robot |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160525 |