论文总字数：18440字

摘 要

机电一体化技术发展迅速，自动导引车(AGV)就是此技术这些年突飞猛进的代表性产物。自动导引车(AGV)是一种重复走位精度高，运行速度快的高仿人类、具有自学习能力的智能化设备。它包含的技术多样而复杂，电子电子技术、微电子技术、自动控制技术、精密机械制造技术、人工智能、仿生学、计算机技术、传感器技术等，是一种综合性强的跨学科技术。

本文针对学校的机电一体化培训中心教学设备的要求，在研究以往 AGV 的相关资料的基础上，提出了针对 AGV 控制系统的直流电动机调速解决方案并且给出了其基于PLC 和触摸屏的实现。

本次设计的硬件核心是西门子S7-200系列PLC，此型号的控制器具有良好的抗干扰性，稳定性优异。编程采用了模块化的编程思想，在传统的AGV小车的导向制作上把需要琢磨的目标整合起来，根据的他的特点做出一套规划方案，我们挑中了直流无刷电来充当动力系统。作品对路面信息的采集运用了带有边缘检测功能的传感器进行轨道信号的采集，与预设轨道间进行偏差计算，实时纠正路径，并且采用采用双驱动差速法来指导小车的转向。本次设计分为硬件结构设计和软件程序设计两大部分。硬件设计方面，按照功能对系统进行了细化，分为了主控制模块、供电模块、路径控制模块、电机驱动模块和数字输入输出模块；在软件的制作上，按照不一样的作用分别做了不一样的分类制作，完成了AGV的自动操控，软件方面具有电动机控制机制、用户可编程、扩展能力强、功能强大等特点。同时实现了工业自动化教学任务的要求。该控制系统在我校工业自动化教学中得到成功应用，取得了明显教学效果。本文的研究成果，对 AGV 的深入研究以及工业自动化培训具有重要的参考价值。

关键词： PLC；AGV ；路径识别；伺服控制系统；双闭环控制

Abstract

Electromechanical integration technology has developed rapidly, and automatic guided vehicle (AGV) is the representative product of rapid development of this technology over the years. Automatic guided vehicle (AGV) is a kind of intelligent equipment with high repeat positioning accuracy, high running speed, high humanoid imitation and self-learning ability. It contains diverse and complex technology, electronic and electronic technology, microelectronic technology, automatic control technology, precision machinery manufacturing technology, artificial intelligence, bionics, computer technology, sensor technology, etc., is a strong comprehensive interdisciplinary technology.

In this paper, according to the requirements of the school's electromechanical integration training center teaching equipment, on the basis of the study of the previous AGV related data, put forward the AGV control system for the dc motor speed control solution and its implementation based on PLC and touch screen.

The hardware core of this design is Siemens s7-200 series PLC. The controller of this model has good anti-interference and excellent stability. The programming adopts the modular programming idea, integrates the objectives that need to be considered in the traditional AGV vehicle guidance production, and makes a set of planning scheme according to its characteristics. We select the dc brushless power as the power system. In the collection of road surface information, a sensor with edge detection function is used to collect track signals, the deviation between the preset track is calculated, the path is corrected in real time, and the dual-drive differential speed method is adopted to guide the steering of the car. This design is divided into two parts: hardware structure design and software program design. In terms of hardware design, the system is detailed in terms of functions, including main control module, power supply module, path control module, motor drive module and digital input and output module. In terms of software production, different categories are made according to different functions, and the automatic control of AGV is completed. In terms of software, it has the characteristics of motor control mechanism, user programmable, strong expansion ability and powerful functions. At the same time, the requirements of industrial automation teaching tasks are realized. The control system has been successfully applied in the teaching of industrial automation in our school and has obtained obvious teaching effect. The research results of this paper have important reference value for the in-depth research of AGV and industrial automation training.

Key words: PLC ;AGV, path recognizing, servo-control , double closed loop Control

目 录

摘 要 I

Abstract II

目 录 III

第一章 绪论 1

1.1课题研究背景 1

1.2 AGV国内外研究现状 1

1.2.1 国内 AGV 研究现状 1

1.2.2 国外 AGV 研究状况 2

1.3 本课题主要内容 2

第二章 PLC简介 3

2.1 PLC结构与工作原理 3

2.2 PLC开发系统 3

2.3 PLC系统的开发流程 4

第三章 设计方案 6

3.1 车体单元 6

3.2 引导单元 6

3.3 主控单元 7

3.4 AGV 路径识别与跟踪 8

第四章 硬件设计 10

4.1 CPU的选择 10

4.2 开关电源的选型 10

4.3 传感器的选型 10

第五章 软件设计 12

5.1 PLC软件执行原理 12

5.2 I/O分配表 13

5.2.1 输入地址分配表 13

5.2.2输出地址分配表 14

5.2.3内部元件地址分配表 14

5.3 程序设计 15

第六章 实验和总结 16

6.1 实验测试 16

6.2 设计总结 17

参考文献 19

致 谢 21

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