China Mechanical Engineering ›› 2008, Vol. 19 ›› Issue (24): 2903-2977.

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Design and Research of Embedded Controller of an 4-wheel Differential Drive Automate Guided Vehicle

Song Libo;Li Jinsong;Fei Yanqiong   

  • Received:1900-01-01 Revised:1900-01-01 Online:2008-12-25 Published:2008-12-25

四轮差动驱动型AGV嵌入式运动控制器设计与研究

宋立博;李劲松;费燕琼   

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Abstract:

An AGV of two front passive wheels and two rear differential-driven wheels was designed.The nonholonomic state space equations in the flexible mode was obtained with the Newton method and the matrix analysis method taking the nonholonomic constraints and the friction force of the bearings into account and considering the motion speed and the turning velocity to be as the state parameters.Meanwhile,the motion control equation was designed with the full state feedback pole placement method,and the embedded control system of the DS87C520 controller and the PSD813F2 chips was also developed.The reliability,real-time and robust qualities of the nonholonomic state space, and the embedded control system were approved and validated with the simulation and the experiments.At last,some conclusions were drawn.

Key words: automatic guided vehicle(AGV);state space;nonholonomic constraint;embedded control system, pole placement method

摘要：

设计了前两轮从动、后两轮差动驱动的四轮底盘结构AGV。在考虑非完整约束和轴承摩擦力的基础上，结合牛顿力学方法和矩阵分析方法建立了以运动速度和转弯角速度为状态变量的AGV非完整状态空间方程;使用全状态反馈的极点配置法建立了运动控制方程，采用DS87C520和PSD813F2设计了其嵌入式运动控制器。仿真和实验证明了非完整状态空间方程、运动控制方程和嵌入式运动控制系统的可靠性、实时性和稳定性。

关键词: 自动导引车(AGV), 状态空间, 非完整约束, 嵌入式系统, 极点配置法

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