免费可控抽奖软件
【实例简介】最灵活,可靠,可控的抽奖软件．支持 号码抽奖,文字抽奖,照片抽奖.
[功能特点]
界面布局自定义设定,满足各个场合需求
每个奖项背景可自定义,给你最大的灵活空间可以达到你想要的任何界面效果
滚动支持图片,文字,或图片+文字的单点,多点,混合自动排版
支持抽尾号模式,便于大批量抽取中奖名单
抽奖采用独立数据库系统,保证大数据量抽奖的效率和稳定 (已测试滚动名单数据200万条,速度,反应均无影响,可支持更大量数据)
停电及意外死机保护,正常或非正常退出抽奖再次开奖接着抽取,安全可靠
抽奖项目化管理,同时设定多个抽奖方案也不会有任何冲突
所有设置和图片声音都在项目文件中,拷贝单个项目文件即可到其他电脑上使用
奖项设定与抽奖过程分离,可以在抽奖过程中继续添加修改未进行的奖项,应对抽奖现场突发情况
临时抽奖随时调用,灵活,高效
抽奖结果保存项目中,随时调用统计
支持领奖登记和排序搜索及导出等功能
数据支持TXT文本,EXCEL表格,图片文件,现场拍照等多种导入方式
照片导入时自动缩放压缩,无需对照片进行批量转换修改尺寸
大量数据或大尺寸照片优化缓冲显示,保证最佳显示效果
自带卡通帮助人物,上手快
支持windows全系列操作系统(32位和64位)
支持最新office2007文档格式导入和文本格式导入
绿色免安装版本,无需系统任何支持拷贝整个文件夹就可以任意使用
抽奖结果的任意可控,公平公正与活动利益的任意平衡,满足各种环境需求
- 2021-11-11 00:33:30下载
- 积分：1
cpci express的标准
目前能找到的cpci express总线的标准ContentsIntroduction1.1 Statement of Compliance131.2 Terminology131.3 Applicable Documents181.4 Objectives…191.5 Name and Logo Usage....翻1E,B面201.5.1 Logo Use201.5.2 Trademark polic201.6 Intellectual Property211.7 Special Word Usage221.8 Connectors1.8.1 Legacy CompactPCI Connectors221.8.2 High -Speed Advanced differential Fabric Connectors1.83 UPM Power Connectors∴…251.8.3.1 System Slot/Board and Type 1 Peripheral Slot/Board.251.8.3.2 Switch Slot/ Board261.8.4 eHM C271.8.5 CompactPCI Pluggable Power Supply Connector271.9 Slot and board descriptions281.9.1 Connector Reference Designators...............311.9.2 System Slot and Board1.9.3 Type 1 Peripheral Slot and Board321.9.4 Type 2 Peripheral Slot and Board331.9.5 Hybrid Peripheral slot351.9.6 Legacy Slot1.9.7 Switch Slot and board.36197.13uSwitchSlotandboard.wwwwwww.361.9.7.2 6U Switch Slot and board371.10 EXample Configurations402 Mechanical Requirements452.1 Mechanical Overview452.2 DrayStandard452.3 Units452.4 Keepout Zones452.5 Connector Requirements.452.5.1 ADF Connectors452.5.1.1 Board connectors452.5.1.3 Backplane Connectors with Hot-Plug Suppor o2.5.1.2 Backplane Connectors without Hot-Plug Support46462.5.2 eHM Connectors462.5.2.1 Board Connector Type Designation.462.5.2.2 Backplane Connectors without Hot-Plug Support .........462.5.2.3 Backplane Connectors with Hot-Plug Support..... 462.5.3 UPM Connectors462.5.3.1 Backplane Connectors…………462.5.3.2 Board Connectors without Hot-Plug Support47PICMG EXPO CompactPCI Express Specification, Draft R. 93, March 11, 2005Do Not design To/Do Not claim compliance To/do Not distribute This specification2.5.3.3 Board Connectors with Hot-Plug Support2.5.4 HM Connectors472.5.5 47-Position Pluggable Power Supply Connector472.6 Chassis Subrack Requirements472.7 Backplane Requirements472.7.1 3U Backplane Dimensions and Connector Locations....... 472.7.2 6U Backplane Dimensions and Connector Locations2.8 Slot Numbering and Glyphs512.9 Board Requirements2.9.1 3U System/Type 1/Type 2 Board Dimensions and ConnectorLocations512.9.2 6U System/Type 1/Type 2 Board Dimensions and ConnectorLocations2.9.3 3U Switch board dimensions and connector locations wwm. 5429.4 6U Switch board dimensions and connector locations.552.9.5 Board pcb thickness562.9.6 ESD Discharge Strip562.9.7 ESD Clip562.9.8 Front Panels562.9.9 CompactPcI Express logo572.9.10 PMC/XMC Support….5729.11 Cross sectional vi582.9.12 Component Outline and Warpage582.9.13 Solder Side Cover(Optional)582. 9.14 Component Heights2.9. 15 System Slot Identification592.10 Rear-Panel 1/0 Board Requirements592.10.1 3U Rear-Panel l/o board dimensions592.10.2 6U Rear-Panel l/o board dimensions3 Electrical Requirements623. 1 Signal Definitions623.1.1 PCI Express Signals.623.1.1.1 PCI EXpress Transmit SigInaIs3.1.1.2 PCI Express Receive Signals623.1.1.3 Interconnect Definition633.1.1.3.1 Link definit633.1.1.3.2 Link Grouping.633.1.1.4 Electrical B643. 1.1.4.1 AC Coupling653.1.1.4.2 Insertion loss653.1.1.4.3 Crosstab‖k3.1.1.4,4 Lane-to-Lane skew3.1.1. 4.5 Equalization673.1.1.4.6 Skew within the Differential Pair(Intra-PairSkew)3.1.1.5 Jitter Budget Allocation683.1.1.5.1 Random Jitter(Rj)683.1.1.5.2 System Level Jitter Distribution693.1.1.5.3 Interconnect Jitter Budget693.1.1.5.4 Eye Patterns703. 1.1.5.5 Type 2 Peripheral Transmitter Eye4PICMG EXPO CompactPCI EXpress Specification, Draft R.93, March 11, 2005Do Not Design To/Do Not Claim Compliance To/Do Not Distribute This specification3.1.1.5.6 Controller Transmitter Eye3.1.1.5.7 Type 2 Peripheral Receiver Eye3.1.1.5. 8 Controller Receiver eye743.1.1.5. 9 Backplane Compliance Testing3.1.1.5. 10 Alternative Controller tX measurement.wm.773.1.1.6 Reference Clock783.1.1.6.1Hot-Pug…...….783.1.1.6.2 Clock Fan-Out..793. 1.1.6.3 Clocking dependencies3. 1.1.6.4 AC-Coupling and Biasing793.1.1.6.5 Routing length803. 1.1.6.6 Reference Clock Specification813.1.1.6.7 REFCLK Phase Jitter Specification3.1.2ESD853.1.35VauX.853.1.4 SMBI3.1.4.1 SMBus " Back Powering Considerations883.1.4.2 Backplane Identification and Capability Using SMBus. 883.1.5 PWRBTN# Signal943.1.6 PS ON# Signal.943.1.7 PWR OK Signal.......953.1.8 WAKE# Signal3.1.8. 1 Implementation Note983.1. 9 PERST# Signal993.1.9.1 nitial Power-Up(G3toL0)……………………1003.1.9.2 Power Management States(so to S3/S4 to so)1013.1.9.3 Power down1023.1.10 SYSEN# Signal…1033.1.11 Geographical Addressing1033. 1. 12 LINKCAP Signal1043.1.13/OPin1043.1.14 Reserved pins1043.2 Hot-Plug Support.1043.2.1 Hot-Plug sub-System Architecture1043.2.2 Power enable1073.2.3 Wake#1083.2.4 Module Power good1083.2.5 Present detection1083.2.6 System Management Bus1083.2.7 System Management Bus alert1083.2.8 Attention LED1093.2.9 Attention Switch1093.2.10 DC Specifications1093.3 Backplane Connector Pin Assignments1093.3.1 System SI3.3.1.1 4-Link Configuration1103.3.1.2 2-Link Combination Configuration3.3.2 Peripheral Slot I ype 11133.3. 3 Peripheral Slot Type 2.1153.3.4 Hybrid Peripheral slot.1153.3.5 Legacy slot117PICMG EXPO CompactPCI Express Specification, Draft R. 93, March 11, 2005Do Not design To/Do Not claim compliance To/do Not distribute This specification3.3.6 Switch Slot1173.3.6.1 3U Switch Slot3.3.6.2 6U Switch Slot x4 Link width1183.3.6.3 6U Switch Slot--X8 Link Width.1213.4 Power Supply Requirements…1233.4.1 Current Available1233.4.2 Regulation and Ripple and noise1243.4.3 Backplane Power Decoupling1243. 4.4 Power Supply Timing1243.4.5 Additional Power Requirements for Boards SupportingHot-Ppluc1254 Keying Requirements4Legacy Slots and Legacy boards12642 eHM Ke126A CompactPCI Express Advanced Differential Fabric Connector......129A 1 General data129A 1.1 Objective of this document.129A.1.2Scope129A.1.3 Intended Method of mounting129A 1. 4 Ratings and characteristics130A.1.5 Normative references130A.1.6 Markings……131A 1.7 Type Designation国131A.1.8 Ordering Information132A 1. 9 Special Connector LoadingsA2 Technical InformationA.2.1 Contacts and terminations133A 3 Dimensional Information134A.3.1 Isometric view and common features.134A 3.2 Engagement Information134A.3. 2.1 Electrical Engagement Length134A.3.2.2 First Contact point135A 3.2.3 Perpendicular to Engagement direction135A.3.2.4 Inclination135A 3.3 Backplane Connectors136A 3.3.1 Dimensions1136A.3.3.2 Contacts136A.3.3.3 Contact Tip Geometry…………137A.3.3,4 Terminations137A. 3. 4 Front board connectors wwwwwwwwwww138A,3. 4. Dimensions.138A 3.4.2 Terminations138A 3.5 Mounting Information for Backplane Connectors138A. 3.5. 1 Hole Pattern on Backplanes139A 3.5.2 Backplane Contact Positional Requirements139A.3.5.3 True position of male contacts.139A.3.6 Mounting Information for Front Board Connectors.140A 3.6.1 Hole Pattern on Printed boards140A 4 Characteristics1416PICMG EXPO CompactPCI EXpress Specification, Draft R.93, March 11, 2005Do Not Design To/Do Not Claim Compliance To/Do Not Distribute This specificationA.4.1 Climatic Category141A 4.1.1 Climatic Category Test batch P: Initial EXamination .....141A 4.1.2 Climatic Category Test Batch A: Mechanical Tests.. 141A 4.1.3 Climatic Category Test Batch B: Harsh Environments. 144A.4.1.4 Climatic Category Test Batch C: Damp Heat146A 4.1.5 Climatic Category Test Batch D: ExtendedEnvironmental Tests147A 4.1.6 Climatic Categary Test Batch E: ExtendedEnvironmental Tests148A.4.2 Electrical characteristics148A.4.2.1 Impedance148A 4.2.2 Crosstalk149A.4.2.3 Propagation Delay149A42.4 Differential skew..149A 4.25 Insertion Loss149BEnriched hard-Metric ConnectorB. 1 General data国面国B150B. 1. 1 Objective of this document150B.1.2 Description of the Connector,s Approach150B.1.3 Descriptive Partitions Found Further This document150B 1.4 Normative References15B 1.4.1 Primary references describing the generic Part ofthe co151B.1.42Additionalreferenceswwwwwww.15B.1.5 Intended Method of Mounting151B 1.6 Markings.152B.1.7 Type Designation(General)152B2 Technical Information∴152B 2.1 Definitions152B 2.2 Contacts152B 2.3 Contact Performance Level154B 2.4 Keying154B.2.4.1 Mating rules155B.2.4.2 Examples for mating and nonmating configurations . 156B.2.5 Type Designation156B 2.6 Applicational Information157B 2.6.1 Alignment and Gathering157B26.2 Polarization翻面面∴158B3 Dimensional InformationQB.3.1 General158B.3.2 View and common features158B3.3 Remarks on Mating Properties of eHM Connector…………159B 3. 4 Fixed Board connector160B 3.4.1 Dimensions160B 3.4.2 TerminationsB.3.4.3 Mounting Information for Fixed Board Connectors..161B 3. 4.4 Hole pattern on fixed board161B.3.4 5 Position of connectors on fixed board∴161B 3.5 Free board connectors162B 3.5.1 Dimensions162B 3.5.2 Termination163PICMG EXPO CompactPCI Express Specification, Draft R. 93, March 11, 2005Do Not Design TO/Do Not Claim Compliance To/Do Not Distribute This specificationB.3.5.3 Mounting Information for Free Board Connectors. .......163B 3.5.4 Hole pattern on free board163B 3.5.5 Position of connectors on front board163B4 Characteristics81.163B.4.1 Climatic Category∴163B 4.2 Electrical Characteristics163B.4.2. 1 Creepage and clearance Distances163B 4.2.2 Voltage Proof164B.4.2. 3 Current-Carrying Capacity.164B.4.2.4 Contact resistance.……164B 4.2.5 Insulation Resistance.164B 4.3 Mechanica164B.4.3.1 Mechanical Operation.164B.4.3.2 Engaging and Separating Forces164B 4.3.3 Contact retesert164B 4.3.4 Static Load. Transverse.164B 4.3.5 Gauge Retention Force.164B 4.3.6 Vibration(Sinusoidal.164B 4.3.7 Shock164B 4.3.8 Polarization method165B.4.3.9 Robustness and effectiveness of coding device .........165B.4.3.9.1 Conditions According to IEC60512-7,Test 13e....B165B 5 Test schedule165B.6 Quality Assessment Procedures…………….…..….…......…...165c Universal Power Connector(UPM)166C 1 General data.I....8.4.4面面面..166C.1.1 Objective of this document166C2 Dimensions167C 3 Perpendicular to Engagement Direction169C4 Inclination169C 5 Mounting Information169C 6 Climatic Category.171Figuresg1-1 HM Connectors231-2 Advanced Differential Fabric(ADF) Connector241-3 UPM Power Connector for System and Type 1 Peripheral Slots/Boards..251-4PowerConnectorforswitchslots/boardswwwwww.26-5 eHM Connector1-647- Position CompactS| Pluggable Power Supply Connector……….281-7 CompactPCI Express 3U Slot Examples29-8 Compact PCI Express 6u Slot Examples301-9 System Board311-10 System Slot321-11 Type 1 Peripheral Board321-12 Type 1 Peripheral Slot.331-13 Type 2 Peripheral Board-14 Type 2 Peripheral Slot34PICMG EXPO CompactPCI EXpress Specification, Draft R.93, March 11, 2005Do Not Design To/Do Not Claim Compliance To/Do Not Distribute This specification1-15 Hybrid Peripheral slot351-16 Boards Supported By Hybrid Peripheral Slots361-17 3 Switch Board371-18 3 Switch Slot371-19 6U Switch board38-20 6U Switch Slot391-21 Backplane with Hybrid Peripheral Slots and Legacy Slots401-22 Backplane with all Hybrid Peripheral Slots411-23 Backplane with Type 2 and Hybrid Peripheral Slots421-24 3U Backplane with Switch, System, Type 1, and Type 2 Slots1-256 U Backplane with Switch, System,Type1, and type2S∴………43442-1 Backplane Overall Dimensions482-2 30 Backplane connector Locations492-3 6U Backplane Connector Locations502-4 board compatibility glyphs2-5 Glyph for Boards that Operate in Either System or Peripheral Slots512-6 Slot Compatibility Glyphs……512-7 3U System, Type 1, and Type 2 Board Dimensions and ConnectorLocations522-8 6U System/Type 1/Type 2 Board Dimensions and Connector Locations...532-9 3 Switch board Dimensions and connector locations542-106uswItchboarddimensionsandconnectorlocations..w.wwwwww.552-11 Modification to PCB to Support Thicker Boards562-12 CompactPCI Express Logo572-13 Alternate CompactPC| Express Logo....….….…572-14 Approximate Clearance Between the PMC/XMC PCB and the aDFConnector………………..572-15 Board cross-Sectional view82-16 3U Rear-Panel l/o board dimensions,602-17 6U Rear-Panel l/o Board Dimensions613-1 2-Link and Loss definition643-2 Backplane Connector Footprint683-3 Interconnect jitter allocation703-4 Peripheral TX Eye Mask723-5 Controller TX eye Mask733-6 Peripheral RX Eye Mask743-7 Controller RX Eye Mask753-8 Backplane TX Compliance signal763-9 Backplane RX Eye…763-10 Alternative Controller measurement783-11 Biasing for HCSL Clock Input3-12 Biasing Simulation Results.803-13 Single-Ended Measurement for swing.833-14 Single-Ended Measurement Points for delta cross point833-15 Single-Ended Measurement Points for Rise and Fall Time Matching ..........833-16 Differential Measurement Points for Duty Cycle and Period833-17 Differential measurement points for rise and fall time843-18 Differential Measurement Points for Ringback843-19 Eight-Slot Backplane Example913-20 Power Supply Timing95PICMG EXPO CompactPCI Express Specification, Draft R. 93, March 11, 2005Do Not design To/Do Not claim compliance To/do Not distribute This specification3-21 WAKE Rise and fall time measurement points983-22 WAKE# Circuit Example93-23 Power Up…1013-24 Power Management states1023-25 Power down1033-26 Typical Hot-Plug Interface Implementation1063-27 4-Link Configuration Backplane Example1103-28 2-Link Combination Configuration backplane example112A-1 Sample Part Number with Explanation132A-2 Special Connector Loading 01001面着国面国B面面国33A-3 View of connectors with common features134A-4 Connector Mating Sequence35A-5 Dimensional Drawing of Backplane Connector.136A-6 Contact Geometry for Zone 2 Backplane Connector137A-7 Dimensional Drawing of Front Board Connectors138A-8 Hole Requirements for backplane Connector139A-9 Backplane Pin Contact Positional Tolerance ................................................140A-10 Hole Requirements for the Front Board Connector140B-1 View of Fixed and Free Board Keying Design(Left Perspective, RightDetailed).……155B-2 View of a Mating and a Non-Mating Keying Combination156B-3 View of fixed and free Board connectors..158B-4 View of Fixed Board connector Including polarization Feature.......159B-5 Dimensional drawing of Fixed board eHM connector160B-6 Hole Requirements for eHM on Fixed Board161B-7 Dimensional drawing of eHM Free Board connector…162B-8 Hole Requirements for eHM Free Board Connector............163C-1 UPM-F-7 Female 7-Position power connector dimensional information 167C-2 UPM-F-5 Female 5-Position Power Connector Dimensional Information ....168C-3 Male 7-Position power connector dimensional information168C-4 UPM-M-5 Male 5-Position Power connector dimensional Information169C-5 Hole pattern for 7-Row male uPm Power connector169C-6 Hole pattern for 5-Row male UPM Power connector170C-7 Hole pattern for female 7-Row uPm Power connector..170C-8Holepatternforfemale5-rowuPmpowerconnectorwwww.171Tables3-1 Interconnect Loss Budget Type 1 Peripheral3-2 Interconnect Loss Budget Type 2 Peripheral653-3 Allowable Interconnect Lane-to-Lane skew673-5 Interconnect Jitter buaget on3-4 Total System Jitter Distribution......69703-6 Type 2 Peripheral Transmitter Eye............713-7 Controller TX Compliance Eye Requirements723-8 Type 2 Peripheral RX Compliance Eye Requirements..733-9 Controller RX compliance Eye Requirements743-10 Backplane TX Compliance Signal (Signal Generator)753-11 Backplane RX compliance eye7610PICMG EXPO CompactPCI EXpress Specification, Draft R.93, March 11, 2005Do Not Design To/Do Not Claim Compliance To/Do Not Distribute This specification
- 2020-12-09下载
- 积分：1
agv的plc控制
这个文档主要介绍plc的整套对agv的开发过程对现实还是有一定的积极意义的长沙理工大学学位论文原创性声明本人郑重声明:所呈交的论文是本人在导师的指导下独立进行研究所取得的研究成果。除了文中特别加以标注引用的内容外,本论文不包含任何其他个人或集体已经发表或撰写的成果作品。对本文的研究做出重要贡献的个人和集体,均已在文中以明确方式标明。本人完全意识到本声明的法律后果由本人承担。作者签名:6日期:20/b月&日学位论文版权使用授权书本学位论文作者完全了解学校有关保留、使用学位论文的规定,同意学校保留并向国家有关部门或机构送交论文的复印件和电子版,允许论文被查阅和借阅。本人授权长沙理工大学可以将本学位论文的全部或部分内容编入有关数据库进行检索,可以采用影印、维印或扫描等复制手段保存和汇编本学位论文。同时授权中国科学技术信息研究所将本论文收录到《中国学位论文全文数据库》,并通过网络向社会公众提供信息服务。本学位论文属于1、保密口,在年解密后适用本授权书。2、不保密駟。(请在以上相应方框内打“√”)作者签名:日期:0/年6月孑日导师签名:日期:年/月。日摘要AGV自动导航车是现代物流领域的一个重要的研究课题。在工业领域柔性化生产中越来越重要,高性能、高有效性的AGV控制器受到国内外学者的高度重视。本文采用模糊控制方式,针对AGⅴ小车的响应速度、稳定性要求,设计实现了一种基于运动学模型的AGV控制系统。该控制系统按功能模块化设计硬件电路,由电杌驱动模块、路径识别模块、避障模块、通信模块组成。电机驱动模块由直流无刷电机驱动模块和电机速度检测模块组成,实现对直流无刷电机的控制;路径识别模块由位置检测模块和站点识別模块组成,实现小车对路径的识别,达到对路径跟踪控制的目的;避障模块实现小车的安全性;通信模块由CAN通信模块和无线ⅵi模块组成,实现控制系统的通信。小车的测试实验表明,先后给以80mm和-100mm的位置偏差,AGV小车能够在3s内对位置偏差进行修复,小车速度振幅控制在±10mm/s,小车位置偏差修复后,3s时间内,速度可回调到位置偏差前的速度,即小车回“零位”的速度比较快,表明AGⅴ控制系统的平稳性好,能够很好实现对路径的跟踪,同时也能及时的应对运行过程中的误差突变。关键字:AG;运动学模型;磁导航;模糊控制ABSTRACTThe Automatic Guided Vehicle (AGv) is an important research topic in the fieldof modern logistics. Flexibility in the field of industrial production more and moreimportant, the AGV controller which has the high performance and the highefficiency has been received the extensive attention by scholars both at home andabroad. This paper adopts the fuzzy control method, in view of the aGv car responsespeed and stability requirements, the design has realized one kind of AGv controlsystem based on kinematics modelThe control system hardware circuit is designed according to the functionmodular, the motor drive module, path recognition module, obstacle avoidancemodule, communication module. Motor driver module is composed of brushless dcmotor driver module and motor speed detection module, realize the control for thebrushless dc motor. Path recognition module is composed of position detectionmodule and site identification module, realize the aGv for the path recognition,achieve the goal of the path tracking control; Obstacle avoidance module to realizethe safety of the car; Communication module of Can communication module andwireless wifi module composition, realization of the control system ofcommunicationThe test results show that, successively give 80mm and 100mm positionaldeviation. the location of the AGv can within 3s to fix position deviation, vehiclespeed amplitude control in the plus or minus 10mm/s after repair the car positiondeviation, within 3s the speed can be back to the front of the position deviation ofspeed, the car back to " zero"speed is faster, the results show that the AGv controlsystem have good stability, a good path tracking, and can provide timely responsesduring the operation of the error mutationKeywords: AGV; Kinematics Model; Magnetic Navigation; Fuzzy Control目录摘要ABSTRACT…命命命中苹命命品哪命命命哪请自品中“非哪非命命命哪第一章绪论1AGV概述…12AGV国内外发展现状…121国外发展历史及现状122国内发展历史及现状13AGV的引导方式14本文的主要工作和主要问题.b自.身自命看非世看带看音萨世看中·宁非命●学●122455141本论文的主要工作…142本论文解决的主要问题第二章AGV车体结构及运动学模型建立21AGV结构分类。B西自鲁自·切是息甲带导211三轮结构2.12四轮结构213五轮或六轮结构.22AGV的性能指标23AGⅤ的组成幽·命命66778924AGⅤ运动状态分析申·自意25AGⅤ小车对电机的基本要求1026AGV的运动学模型27本章小结12第三章AGNV控制系统硬件设计3IAGⅴ控制系统整体结构.1332AGV控制系统研究方案32ICAN总线通信模块即14322无线wif模块15323电机实时速度检测看·。专中●·音专中324磁导航传感器组3.2.5障碍检测18326AGV小车对线路与站点的识别鲁·。感垂品自世品身岳一益自备自e非你ee非物9327AGV小车位置判断33硬件系统组成21331控制器芯片应用说明.1332电机驱动模块24333电源模块…633.4通讯模块命命命命··命命自命命●2734本章小结28第四章AGV路径跟踪控制方法研究41AGⅴ控制策略选择42模糊控制简介…294.3模糊PD控制器.3043.1模糊PD控制器的数学模型查看着看看看昏春●●●43,2模糊PID控制器的控制思想3143.3AGⅴ控制系统模糊控制必要性…3144模糊PID控制器设计…3344.1模糊PID控制器的输入输出量的确定…344.2模糊控制规则的设计.节。申春。鲁合。节是看看。节.自DD春3345模糊PID控制器的仿真…昨非···命e命自···总最46本章小结38第五章AGV控制系统软件设计51引言3952编译环境的介绍.....12053控制软件设计鲁暴非画非最命自曲曲自自非非命春告音春鲁D看41531产生PWM的程序流程.53,2电机实际速度检测模块程序流程425.3.3避障控制模块程序流程….534驱动控制模块程序流程中学鲁鲁鲁。鲁。●44535CAN总线通信模块程序流程.54本章小结45第六章系统测试与结果分析6.1路径跟踪测试.4662避障能力测试63本章小结总结和展望看中·49参考文献看●。。意非。。市中自看非如鲁致谢附录A(攻读学位期间发表论文及专利目录)55第一章绪论第一章绪论1.1AGV概述现代制造工艺的飞速发展,带动了柔性制造系统FMS和柔性装配系统FAS的迅速发展。中国早在“十一五”规划中就制定了侧重于科学和技术的发展,以先进的制造技术来提高企业的竞争力。自21世纪开始,物流的发展成为一个新热点。现代物流行业,尤其是西方的设备和实现技术已经达到很成熟的水平。目前,现代化物流格局已经形成以信息技术为核心,以信息、运送、卸载、自主化仓储、库存统计、自主化配货、包装等专业技术为支撑的现代化物流技术4。而自主导航车AGV是实现AGVS、FMS、CIMs的关键基础设备,是实现现代物流自动化和智能化的核心技术之—pAGV( Automated Guided Vehicle)是自动导航小车的英文缩写,是一种自主驾驶、无人操纵、以电池为动力的自动化运输设备,装有电磁或者光学等非接触自动导向装置和独立寻址系统。它的主要特点表现为具有可编程功能、安全保护装置、启停装置以及搬载功能并能在上位机的监控下,根据给定的起点和终点自主地沿预设的导引路径行驶,安全到达目的地,完成搬运卸载任务。其已经成为仓储物流自动化系统、柔性生产线、柔性装配线的重要设备。资料显示,在整个产品生产的过程中,用于加工和制造仅仅只占有5%的时间,剩余95%的时间主要用于包装、储存、装卸和运输;而在美国、日本和欧洲发达国家,直接劳动成本所占生产成本的比例不足15%而且这一比例还在不断下降,而储存、运输所占的成本却占总成本的40%7。因此各工业强国把降低物流成本作为提高企业竞争力的重要措施,在这样的背景下,AGⅤ小车广泛地应用于各行各业,并受到了极大的欢迎。12AG国内外发展现状AGⅤ是伴随着叉车技术和机器人技术产生并发展而来的,但都是为了实现货物的自动搬运为目的的3。随着技术的不断发展,AGV的功能不断完善,应用领域越来越大。硕学位论文121国外发展历史及现状AGV在国外起步早、发展快。首次出现在公众视野的AGV原型车于1913在美国福特汽车公司下线,该原型车首次将有轨引导的小车代替原来使用在汽车底盘装配线上的输送机,根据福特公司对外公开的资料,该小车将装配时间缩短了15小时,极大地提高了生产效率,从此AGv就步入了高速发展的时代例1953年,世界上第一台AGV由美国 Barrett Electric公司研制成功,采用真空管技术自动跟踪钢丝索行走。1954年,由英国人首先去掉了地面上的导引轨道,研制出了采用埋线电磁感应方式跟踪路径的AG。50年代末,AGV开始在欧洲推广使用。1959年,AGV系统在美国开始应用山。由文献-5,12,3]可知:直到70年代,AGv仍然主要采用电磁感应方式引导。AGv的优越性促使其不断发展,应用非常广泛,特别是在工业强国。随着物流系统的完善,AGV系统逐渐与计算机技术相融合,六十年代,计算机技术开始参与AGV系统的控制和管理;1969年,AGV首次在瑞典投入使用,主要集中在制造业12截止到六十年代和七十年代初, Barrett, Webb、 Clark公司占有市场大部分的AGV销售份额;同时在这个时期,AGV导引方式开始发展五花八门,各种环境的适应加速了AGⅤS的迅速发展。八十年代欧洲的AGV技术开始转移到美国,而且随着计算机控制系统的加入,美国使AGv的性能更加先进,AGⅤ控制器可靠性进一步加强,运输量进一步增加;此时,美国的AGV生产商由23家(1983年)增加到74家(1985年),全美国使用AGV的数量增加到3900多台101。1990年,AGⅴ制造强国瑞典NDC开发出新型的基于激光引导的AGV控制系统。同时,AGⅤ在日本的应用也比较成熟。到1988年,日本的AGV制造企业达到20多家,如比较知名的企业大福、 Fanuc公司、村田公司等。日本也成为使用AGV最广泛的国家之一。随着AGV技术的不断提高,美国、日本、欧洲等发达国家的使用已经非常广泛。现在的AGV控制系统装有车载计算机、通讯装置、安全装置和货物装卸设施,自动化程度很高,应用领域相当广泛,汽车制造、造纸、印刷、医药行业是使用量最大的行业,约占全球AGV总销量的80%15。目前,AGV的发展趋势是研究无固定引导路线、高度自由的AGV。122国内发展历史及现状我国第一台AGⅣ在1975年由北京起重运输机械研究所完成,该AGⅤ采用电磁
- 2020-12-06下载
- 积分：1
