Dynamic equilibrium control of an Automated Guided Vehicle for moving on indoor variable slopes
| Autor: | Po-Wei Liao, 廖栢維 |
|---|---|
| Rok vydání: | 2015 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 103 Based on the modeling scheme of a mixed logical dynamic system (MLDS), this thesis designed and implemented a dynamic equilibrium controller of an Automated Guided Vehicle (AGV) while moving on indoor variable slopes. This AGV was outfitted with two tilt sensors and an acceleration sensor to sense the dynamic variation while going through on indoor variable slopes. A programmable logic controller (PLC) was used as a control core unit of the AGV to deduce a logical discrete event system (LDES) in above-mentioned statuses, to implement a binary dynamic process. By integrating an analog to digital converter (ADC) and the comparator built in the PLC, analog signals from these sensors were digitized and encoded to multi-bit input signals to promote the resolution of the dynamic variation, while the AGV goes through on indoor variable slopes. A digital to analog converter (DAC) was used as a decoder of the PLC to output an analog signal to appropriately modulate the balance position of a 2-axis plate outfitted in the AGV. The Boolean algebra algorithm was employed to deduce the logical switching relations for identifying ground states and switching a horizontal angle/balance angle control, while the AGV goes through on indoor variable slopes. Further, the above logical relations were compiled into the PLC program. This study integrates a MLDS and logical analytic methods to solve the complex mathematical problem issued from a nonlinear angle dynamic control system. Such a method in a control core unit of the AGV could decrease the complexity of logical operation and the running time of executing program. The function test to this controlled 2-axis plate outfitted in the AGV was implemented in indoor variable slopes including 1-dimensional and 2-dimensional direction and arc paths, respectively. The performance results indicate that this technology works and this example can also serve as a case study to show how to design and implement a dynamic equilibrium controller of an AGV while moving on indoor variable slopes. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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