毕业设计（论文）-基于LIN总线的AGV系统的设计与实现.pdf

基于 LIN 总线的 AGV 系统的设计与实现中文摘要
中文摘要
自动导引小车(Automated Guided Vehicle,AGV)是一种无人操纵的自动化运输设
备,是先进制造系统的重要组成部分。随着生产自动化的高度发展和柔性生产系统的
要求,加快我国 AGV 的开发研制己势在必行。近些年来,AGV 的应用领域在不断扩
大,对它也提出了各种不同要求。特别是低成本、智能化、便于维护扩展的 AGV 日
益受到人们的重视。
本文旨在设计一款适合国内中小型企业使用的低价位、系统可靠实用、便于维护
扩展的 AGV。系统将低成本的新型工业总线 LIN 总线技术引入控制系统,构建分布
式总线结构,这使得系统的各功能模块之间更加独立,但联系更为方便,系统更加可
靠和稳定。
文章首先介绍了课题的相关背景和概念,接着详细阐述了以 MC9S12XDP512 为
主控 MCU 的 AGV 系统的硬件、软件和机械的设计思想及实现方法。系统选用高性
价比的 MC68HC908QL4 作为从控 MCU,通过 MC33399 接口芯片实现嵌入式 LIN 接
口。给出了 LIN 接口部分的软硬件设计描述与关键技术的实现要点。最后将各个功
能模块进行整合,构建控制系统,并搭建试验环境,对小车进行了一系列性能测试试
验。通过实验表明系统各模块之间通信可靠稳定、小车能够实现自主运行、自动纠偏
和避碰等功能,达到设计要求。


关键词:AGV,LIN 总线,MC9S12XDP512,任务调度,PWM,轮系结构



作者:
指导老师:
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ABSTRACT The design and realization of the Automatic Guided Vehicle System based on LIN-Bus
ABSTRACT
Automated Guided Vehicle(AGV)is an automatic transportation vehicle without driver.
AGV is the vital part of the advanced manufactural the growing of factory
automation and the demand of the flexible manufacturing will be imperative to
devolp the AGV in our the development of economy in china, some
enterprises also start to apply AGV now. Especially AGV of low cost,intelligence and
convenient for maintenance and extension es more and more popular.
This paper is for the purpose of designing a kind of low-cost,reliability,useful and
convenient for maintenance and extension Automatic Guided Vehicle system,which suits
chinese small and medium-sized enterprises system is designed with
distributed control structure which based on LIN-bus will be more
independent between modules but more convenient for munication because of
the application of LIN-bus,and the system will be more reliability and stability.
Firstly, some background information and conception related to the thesis are
introduced. Secondly, the design idea and the implementing method of hardware,software
and mechanical design