无人物流车控制系统设计与开发(含CAD图,matlab程序)

无人物流车控制系统设计与开发(含CAD图,matlab程序)(任务书,开题报告,文献摘要,外文翻译,论文说明书15000字,CAD图纸9张,matlab程序)
摘要
随着物流行业的飞速发展，无人物流车以其灵活性、高效性和柔性在车间仓储物流系统中成为实现敏捷物料处理的重要工具。而随着计算机技术，自动化技术的不断进步，AGV控制系统方面的技术也越来越成熟。本文开展了对AGV控制系统的设计与开发，研究的主要内容包括以下几个方面：
（1）    介绍了本课题的研究背景及意义，分析了无人物流车在国内外的发展现状，引出了本课题的主要研究内容。
（2）    构建了无人物流车的总体框架，简要介绍了数字化工厂中自动化仓储系统的架构，各个部分的功能与联系，并将研究方向定位在底层控制系统上。分析设计指标，对舵轮驱动单元进行计算与选型，并建立了无人物流车车载控制系统架构。
（3）    对无人物流车进行了运动学分析，建立了数学模型，并对其运动控制采用了模糊控制，用法向位置误差和方位角误差来控制舵轮转向角，用切向位置误差来控制舵轮速度，建立了相应的模糊规则后，进行了MATLAB仿真，其结果验证了模糊控制的可靠性。

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（4）    对避障和导航算法进行了研究，避障采用人工势场法，导航采用A*算法，这两者的实质都是在进行路径规划，对设计算法的思想进行了解读，并用MATLAB将其结果呈现出来。
本文的特色在于对三轮AGV的运动控制采用了模糊控制，并建立了SIMULINK模型进行了MATLAB仿真，对避障控制采用了人工势场算法，对导航控制采用了A*算法，并且两种算法都进行了MATLAB仿真。
关键词：无人物流车；控制系统；模糊控制；人工势场法；A*算法

Abstract
With the rapid development of the logistics industry, unmanned logistics vehicles have become an important tool for agile material handling in the warehouse warehousing logistics system with its flexibility, efficiency and flexibility. With the continuous advancement of computer technology and automation technology, the technology of AGV control system is becoming more and more mature. This paper has carried out the design and development of the AGV control system. The main contents of the research include the following aspects:
1. Introduced the research background and significance of this topic, analyzed the development status of unmanned logistics vehicles at home and abroad, and introduced the main research content of this topic. [来源：http://www.doc163.com]
2. Constructed the overall framework of the unmanned logistics vehicle, briefly introduced the architecture of the automated warehouse system in the digital factory, the functions and connections of each part, and positioned the research direction on the underlying control system. Analyze the design indicators, calculate and select the steering wheel drive unit, and establish the vehicle control system architecture of the unmanned logistics vehicle.
3. The kinematics analysis of the unmanned logistics vehicle was carried out, the mathematical model was established, and the fuzzy control was adopted for its motion control. The steering angle and azimuth error were used to control the steering angle of the steering wheel, and the tangential position error was used to control the steering wheel. After the speed is established and the corresponding fuzzy rules are established, the MATLAB simulation is carried out, and the results verify the reliability of the fuzzy control.
The obstacle avoidance and navigation algorithms are studied. The artificial potential field method is used for obstacle avoidance and the A* algorithm is used for navigation. The essence of both is to carry out path planning, and the idea ofhow todesign algorithm is interpreted, and MATLAB will be used. The results are presented. [版权所有：http://DOC163.com]
The characteristic of this paper is that fuzzy control is adopted for the motion control of three-wheel AGV, and SIMULINK model is established for MATLAB simulation. Artificial potential field algorithm is adopted for obstacle avoidance control. A* algorithm is adopted for navigation control, and two algorithms are used. All have been simulated by MATLAB.
Key Words：unmanned logistics vehicle; control system; fuzzy control; artificial potential field method; A* algorithm
 

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目录
第1章绪论    1
1.1论文研究背景和意义    1
1.2国内外研究现状    2
1.2.1国外研究现状    2
1.2.2国内研究现状    3
1.3论文研究内容    4
第2章无人物流车控制系统总体方案设计    5
2.1自动化仓储架构    5
2.1.1顶层ERP信息管理系统    5
2.1.2中层调度系统    6
2.1.3底层车载控制系统    6
2.2车载控制系统架构    7
2.3本章小结    9
第三章运动控制系统模糊控制设计    10
3.1无人物流车运动学分析    10
3.2模糊控制概念    11
3.3无人物流车控制模型    12
3.4模糊控制的仿真及结论    17
3.4.1输入输出量模糊化    17
3.4.2模糊控制规则的建立    20
3.4.3解模糊化    22
3.4.4仿真与结论    23

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3.5本章小结    24
第4章避障控制算法设计    25
4.1避障算法概述    25
4.1.1模糊避障算法    25
4.1.2人工势场法避障    25
4.1.3栅格法避障    25
4.1.4遗传算法避障    26
4.1.5神经网络法避障    26
4.2人工势场法避障算法的实现    26
4.3算法的MATLAB仿真    27
4.4本章小结    28
第5章导航控制算法设计    29
5.1导航算法概述    29
5.1.1 Dijkstra算法    29
5.1.2最佳优先搜索算法    29
5.1.3 A*算法    29
5.2 A*导航算法的实现    30
5.3算法的MATLAB仿真    31
5.4本章小结    31
第6章总结与展望    32
6.1本文主要工作    32
6.2未来展望    32
参考文献    33
致谢    34 [资料来源：http://Doc163.com]