基于HMC1021的磁导引AGV控制系统的设计

Design of magnetic guidance AGV control system based on HMC1021

摘要:

磁条导引方式因其成本低、路径规划灵活和抗干扰能力强而在AGV的导引控制系统中普遍使用，而磁感应信号的数据采集、控制系统结构和控制策略的设计等都是需要深入研究的问题。以差速驱动转向AGV为研究对象，以模块化、通用化设计思路为导向，给出了一种分布式磁导引AGV控制系统设计和实现方案。采用Atmega 128及外围电路作为主控单元， Atmega 16和信号调理电路为数据采集单元、HMC1021为磁条检测传感单元来设计控制器的核心硬件结构，主控单元和数据采集单元之间通过RS485通信交换数据。随后在分析和研究AGV差速驱动原理的基础上，给出了从传感到速度控制的通用模式，并且提出了查表和模糊控制相结合的通用性控制策略设计方法。软硬件测试和实验结果表明了该设计方法的可行性和有效性。

Abstract:

Due to its low cost, flexible path planning and strong anti-interference ability, the Magnetic guidance mode is widely used in the guidance and control system of AGV. In this paper, the AGV of differential speed steering is studied,and distributed magnetic guidance AGV control system under modularization and general oriented is designed, which Use Atmega 128, 16 as control unit and HMC1021 magneto resistance sensor for magnetic detection device to building hardware structure. And the generic control strategy combined with the table lookup and fuzzy control is put forward. The results of practical application have shown that the design method is feasible and effective.