基于PMAC的自动导引运输车智能控制*

作者：梁春苗1，黄玉美2，王小波1 日期：2009-08-18/span> 浏览：3396 查看PDF文档

基于PMAC的自动导引运输车智能控制*

梁春苗1，黄玉美2，王小波1
（1.煤炭科学研究总院西安研究院，陕西 西安 710077；2.西安理工大学 机械自动化研究所，陕西 西安 710048）

摘要：为实现对自动导引运输车（AGV）的智能控制，采用基于PMAC2为核心的计算机控制系统，完成了系统的软、硬件设计；建立了运动学模型,并对AGV航位推算及运动控制算法进行了研究；利用控制算法和陀螺仪、超声波传感器、编码器等检测技术得到了机器人的位姿，并对轮式移动机器人的二次闭环算法进行了仿真和实验，实现了准确定位和智能控制。反复的试验和应用证明，此控制系统和控制算法可行且运行可靠。
关键词：永磁交流；自动导引运输车；PMAC2控制器；航位推算；智能控制
中图分类号：TP242.6文献标识码：A文章编号：1001-4551(2009)08-0097-03

Intelligent control of AGV based on PMAC
LIANG Chunmiao1, HUANG Yumei2, WANG Xiaobo1
(1. Xian Branch of China Coal Research Institute, Xian 710077, China;
2. Institute of Mechanism and Automation, Xian University of Technology, Xian 710048, China)
Abstract: Aiming at realizing the automated guided vehicle(AGV)s intelligent control, PMAC2 was chosed as a corecontroller in computers system. In addition, the hardware and software of control system were designed, the kinematics model was deduced, and navigation was induced and calculated. Through control algorithm, the ultrasonic sensor, the gyroscope, and the encoder, robots position and posture were gotten. Finally, the double closedloop algorithm of the wheeled mobile robot was simulated and experimented. By control algorithm and sensor measuring, the correct position and intelligent control were realized. The results show that the control system and control algorithm possesses a good performance.
Key words: PMAC; automated guided vehicle(AGV); PMAC2 controller; navigation induce and calculate; intelligent control
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