基于CAN總線的AGV實驗平臺的研究.pdf

1、y819058基于CAN總線的AGv實驗平臺的研究ResearchofExperimentPlatformforAGVBasedonCANBus作者姓名學(xué)位類型學(xué)科t專業(yè)研究方向?qū)熂奥毞Q墅趨王堂亟控劍堡論皇控制工程運墊絲劍丕統(tǒng)肖查豎熬援2005年6月駕￡蠹鬻’誓鎏ResearchofExperimentPlatformforAGVBasedonCANBusAbstractAdis伍butedc0Il訂olexperimemplatfo

2、rmforAutomatedGuidedVbllicIe(AGVlsystcmisdesignedbascdonFieldBustcdmologyaIldsen，ocommltechIlologyItismoreindependentb咖eenmodul鵲butmoreconveIlientformumalcommunicationbecauseoftlleapplicationOfCANBus0wingt0theuseofunifor

3、Hlcomm砌cationagreement，wecanavoidrcpeatedbottomdevelopmentordebugmngofsoRwareandhardware。Thedevelopmentemci即cycaIlbeadv眥edl，∞nyThentllereisnobottomba州erwhen、wstartt11etopdeve】opmembasedontllecommunica廿onagreementrealized

4、by鉑esof【wareItisverys蚰pletosettlewheelspeedorreportthecoordinate，Omytocalla矗mctionSotheuSerdonotalwayscentershjsattentiononmebottomrealizationprocess，butme鈾ctionrcalizationorcontrolalg吲thmjcrcsearchnisneccssaryfortheopen

5、experimentpla埔。肌Thedistributcdcon缸叫expedm曲tplatfbⅡnforAGVsystembasedonCallBusispreseInedanddevelopedAccordingt0meIleedsoftlleexperiments，CCDc咖era、phot0一elecmcitysensors、appmachsensors鋤dlll虹嬲onicsensorsnodescanbeiⅡstalled

6、t0g證deAGVAsisindicatedint11eresearchalldsimulation，sel￡turningFuzzyPDCon仃ollcrcancon仃oltheAGVfollowtlIetargetpa也rapidlyandgteadilv’itspedb咖anceofpam仃ackingis吼Ip酣ort0pDcontr01KeywordsAGV；Platfom；CANBus；pSP；PDcontroller；Fu