【摘要】 为保证磁导航AGV控制系统的可扩性与稳定性,提出一种基于CAN总线的控制系统,其硬件架构以嵌入式工控机为核心,通过CAN总线挂接多个控制外围设备的ARM处理器。重点给出了系统运动控制器与监控管理系统的实现方案。基于中断任务调度模式实现了运动控制器,由模糊自整定PD调节器来改良AGV的动态跟踪行为;监控管理系统包括六种交互模块,其发送与接收通信过程通过适时线程挂起与逐步接收匹配操作来协作完成。经现场实测,AGV工作稳定可靠,跟踪效果良好。更多还原

【Abstract】 To guarantee scalability and stability of the magnetic navigation AGV control system,a control system was built based on the CAN bus. The system’s hardware architecture was formed by embedded industrial computers at its core,and through the CAN bus connects several ARM processors that control the peripherals. It focuses on the solutions to the motion controller and monitoring & management system. The motion controller was facilitated with the application of the interrupt tasks scheduling model,and the AGV’s dynamic tracking performance was improved by the self-tuning PD controller. The monitoring and management system was made up of six mutual modules,and it transmits and receives messages through thread suspending in proper time and the matching operations of receiving gradually. According to practical testing,the AGV system works well and possesses a good tracking performance.更多还原