适用于电力计量的自动导引运输车控制系统研究

为了满足计量中心库前区电能表计周转箱自动装卸的要求,实现全自动无人化的作业模式,对自动导引运输车(automated guided vehicle,AGV)的控制系统及控制过程进行了建模、仿真和验证。首先,采用小车的运动学模型来计算模拟实际运行过程中小车的位置坐标,考虑到实际情况的各种干扰,在运算结果中加入高斯分布的误差值建立AGV控制系统的运动学模型;继而使用具有真实物理引擎的仿真软件V-rep对AGV的物理模型进行运动学和动力学仿真,并确立AGV物理模型,搭建其运行环境场景;其次,对AGV轨迹规划的控制算法、控制运行过程进行了性能仿真分析。最后,根据现实工况运行结果验证该控制系统算法能满足电能表计周装箱AGV的功能需求和精度要求,其位置偏差及角度偏差分别在10 mm及0.8°之内。

Study on AGV Control System Suitable for Electric Power Metering

In order to satisfy the requirements of the automatic loading and unloading of the electric energy meter turnover box in the front area of the metering center and realize the fully automatic unmanned operation mode, this paper makes modeling, simulation and verification of the control system and control process of the automated guided vehicle(AGV). It firstly uses the kinematic model of the vehicle to calculation and simulate the position coordinates of the vehicle in the actual operating process. Considering actual various interference, it adds error values of Gaussian distribution in the computation results to establish the kinematic model of the AGV control system. Afterwards, it uses the simulation software V-rep with real physical engine to make both kinematic and dynamics simulations for the AGV physical model, and determines the AGV physical model as well as establishes the operating environment scenarios. Then it makes performance simulation analysis of the control algorithm and the control process of AGV trajectory planning. Finally, according to the actual operating results, it verifies this control system algorithm can satisfy the functional requirements and accuracy requirements Simulation and field test results show that the control system algorithm can satisfy the functional requirements and accuracy requirements of the AGV of the the electric energy meter turnover box, and the position deviation and angle deviation are within 10 mm and 0.8° respectively.