基于倍福CX控制器的AGV控制系统设计

对传统的人工叉车进行自动化改造可以大幅度提高车间物流自动化水平。以倍福控制器CX5130作为AGV控制核心,倍福控制器分别与激光导航传感器和无线终端通过TCP/IP协议通信,实现与AGV本体和调度系统的数据交换。激光导航传感器通过反光柱返回激光导航仪发射的激光束实现AGV的定位。倍福HMI界面作为人机界面方便操作和监控。实现AGV的自动运行之后,通过PID算法提高了AGV的定位精度。实验结果表明:所设计的控制系统能满足AGV系统使用要求,成本低,验证了其有效性和可行性。

Design of AGV Control System Based on Beckhoff CX Controller

The automation reform of traditional manual forklift can greatly improve the automation level of workshop logistics. Beckhoff industrial controller CX5130 was taken as the AGV control core. Beckhoff industrial controller communicated with laser navigator sensor and wireless terminal through TCP/IP protocol respectively to realize data exchange with AGV ontology and scheduling system.The laser navigator sensor could locate the AGV by returning the laser beam emitted by the laser navigator instrument through the reflector. As the human-machine interface, the Beckhoff HMI interface was easy to operate and monitor. After AGV automatic operation was realized, the positioning accuracy of AGV was improved by PID algorithm. The test results show that the designed control system can satisfy the requirements of AGV system with low cost, its validity and feasibility are verified.