1．控制原理　

兩者控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)原理的(de)(de)(de)相(xiang)同(tong)點在(zai)于都(dou)采(cai)用集散控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)：主控(kong)(kong)(kong)(kong)(kong)單(dan)(dan)(dan)元(yuan)及相(xiang)關元(yuan)器件配制(zhi)(zhi)在(zai)地面控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)柜中，而車(che)體內部(bu)也含(han)有相(xiang)對(dui)獨立的(de)(de)(de)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)單(dan)(dan)(dan)元(yuan)和(he)相(xiang)關元(yuan)器件。不同(tong)點在(zai)于：RGV以PLC為(wei)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)單(dan)(dan)(dan)元(yuan)，通(tong)過(guo)滑(hua)觸線(xian)的(de)(de)(de)方式進(jin)行移(yi)動取電(dian)和(he)PLC之間的(de)(de)(de)信息交互；單(dan)(dan)(dan)臺(tai)小車(che)也是以PLC作(zuo)為(wei)邏輯控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)單(dan)(dan)(dan)元(yuan)，通(tong)過(guo)變頻器作(zuo)為(wei)電(dian)能控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)裝(zhuang)置(zhi)。

RGV 小車(che)和AGV小車(che)特點(dian)及(ji)對比分(fen)析

相比(bi)于(yu)RGV，AGV的控(kong)制(zhi)(zhi)系統要(yao)復雜得(de)多。它屬(shu)于(yu)輪式機器(qi)人的范疇(chou)，整個系統以一臺(tai)工控(kong)機為(wei)(wei)中(zhong)樞控(kong)制(zhi)(zhi)單(dan)(dan)(dan)元(yuan)(yuan)，內(nei)部集(ji)(ji)成兩塊I/O板作為(wei)(wei)信息(xi)采(cai)集(ji)(ji)單(dan)(dan)(dan)元(yuan)(yuan)，一塊繼(ji)電器(qi)輸出板作為(wei)(wei)輸出單(dan)(dan)(dan)元(yuan)(yuan)；每(mei)臺(tai)小車上各(ge)有一個主控(kong)制(zhi)(zhi)器(qi)VCU100。VCU100除了通(tong)(tong)過無(wu)線(xian)局域(yu)網(wang)絡和中(zhong)樞控(kong)制(zhi)(zhi)單(dan)(dan)(dan)元(yuan)(yuan)進行通(tong)(tong)信外，內(nei)部還使用104總線(xian)CAN通(tong)(tong)信卡PCM3680，以實現中(zhong)心(xin)處理單(dan)(dan)(dan)元(yuan)(yuan)與各(ge)信號采(cai)集(ji)(ji)單(dan)(dan)(dan)元(yuan)(yuan)間的數據交(jiao)換。

2.核心功能的實現

對(dui)于(yu)底盤合裝設備來(lai)說，其核心功能在于(yu)導向(xiang)、定位和同步。

在上(shang)述核心功能(neng)的實現(xian)方式上(shang)，RGV相對簡單(dan)、直觀。RGV以軌道為(wei)(wei)導向(xiang)，只需要一(yi)臺變(bian)(bian)(bian)頻(pin)(pin)(pin)電(dian)動機作為(wei)(wei)行(xing)(xing)走驅動裝置(zhi)，而(er)無需方向(xiang)控制；定位(wei)信(xin)號通(tong)過一(yi)組(zu)滑(hua)觸(chu)(chu)線獲(huo)取(qu)，該組(zu)滑(hua)觸(chu)(chu)線根據任務分為(wei)(wei)數段(duan)（現(xian)場為(wei)(wei)7段(duan)），通(tong)過電(dian)刷跟各段(duan)滑(hua)觸(chu)(chu)線之(zhi)間(jian)的接觸(chu)(chu)獲(huo)取(qu)位(wei)置(zhi)信(xin)號；而(er)與生產線大鏈的同(tong)步(bu)，則(ze)是通(tong)過設(she)置(zhi)變(bian)(bian)(bian)頻(pin)(pin)(pin)器，使(shi)小(xiao)車驅動輪線速(su)度與大鏈線速(su)相同(tong)，因(yin)此(ci)，當大鏈線速(su)發生變(bian)(bian)(bian)化時(shi)，軌道自行(xing)(xing)小(xiao)車變(bian)(bian)(bian)頻(pin)(pin)(pin)器的設(she)置(zhi)需要相應的進行(xing)(xing)改變(bian)(bian)(bian)。

而AGV則(ze)通過(guo)導(dao)(dao)航(hang)(hang)傳(chuan)感(gan)器(qi)、地(di)(di)標(biao)傳(chuan)感(gan)器(qi)、跟蹤傳(chuan)感(gan)器(qi)作為(wei)實現這部分(fen)功能(neng)的(de)(de)信息采(cai)集單(dan)元(yuan)。它們分(fen)別通過(guo)與(yu)導(dao)(dao)航(hang)(hang)磁(ci)(ci)(ci)條(tiao)、地(di)(di)標(biao)磁(ci)(ci)(ci)條(tiao)和(he)光靶的(de)(de)感(gan)應(ying)，獲取導(dao)(dao)向、定(ding)位(wei)及(ji)同步信號。磁(ci)(ci)(ci)導(dao)(dao)航(hang)(hang)技(ji)術正是AGV的(de)(de)核心技(ji)術。由(you)于磁(ci)(ci)(ci)條(tiao)本身(shen)具有恒定(ding)的(de)(de)磁(ci)(ci)(ci)場信號，不需要(yao)額外的(de)(de)信號發生器(qi)，導(dao)(dao)航(hang)(hang)傳(chuan)感(gan)器(qi)安裝(zhuang)在車體前方(fang)，通過(guo)檢(jian)測導(dao)(dao)航(hang)(hang)磁(ci)(ci)(ci)條(tiao)磁(ci)(ci)(ci)場的(de)(de)信號強弱(ruo)的(de)(de)差(cha)(cha)異(yi)計算AGV與(yu)磁(ci)(ci)(ci)條(tiao)間的(de)(de)偏(pian)差(cha)(cha)和(he)距(ju)離；地(di)(di)標(biao)傳(chuan)感(gan)器(qi)位(wei)于車體一側，通過(guo)檢(jian)測地(di)(di)標(biao)磁(ci)(ci)(ci)條(tiao)確定(ding)自身(shen)位(wei)置(zhi)；兩者將所需信號通過(guo)CAN總線反饋給主(zhu)控制器(qi)VCU100，控制AGV沿軌道方(fang)面(mian)行(xing)走。

AGV的(de)行(xing)(xing)(xing)走(zou)執行(xing)(xing)(xing)單(dan)元則是(shi)一套伺(si)(si)服(fu)控制系統，AGV的(de)行(xing)(xing)(xing)走(zou)伺(si)(si)服(fu)系統采(cai)用了(le)速(su)度(du)(du)環(huan)(huan)和位置環(huan)(huan)雙閉環(huan)(huan)反饋，因此無(wu)論是(shi)從速(su)度(du)(du)還是(shi)精(jing)度(du)(du)上，其功能(neng)都比(bi)運(yun)行(xing)(xing)(xing)于開(kai)環(huan)(huan)控制的(de)變(bian)頻(pin)器(qi)強(qiang)大(da)得多。伺(si)(si)服(fu)驅動器(qi)的(de)電源為直流(liu)電源，環(huan)(huan)路增(zeng)益、最(zui)大(da)工作電流(liu)、輸入(ru)增(zeng)益和偏(pian)移量通過調節伺(si)(si)服(fu)放大(da)器(qi)上的(de)電位計可以調整(zheng)。由于比(bi)軌道自(zi)行(xing)(xing)(xing)小車多了(le)大(da)鏈(lian)速(su)度(du)(du)反饋，因此當大(da)鏈(lian)速(su)度(du)(du)發生變(bian)化(hua)時，AGV同步的(de)實(shi)現無(wu)需另外設置。　

3. 通信方式

由于軌道自行(xing)小車采用滑觸線(xian)(xian)作(zuo)為(wei)通信(xin)(xin)(xin)方式，因(yin)此PLC之間(jian)只能(neng)進行(xing)少數數字信(xin)(xin)(xin)號(hao)的(de)交互(hu)；而AGV則通過構建無(wu)線(xian)(xian)局域(yu)(yu)網(wang)的(de)方式實現強大的(de)通信(xin)(xin)(xin)功能(neng)；局域(yu)(yu)網(wang)由一個基于IEEE 802.11a/IEEE 802.11b/IEEE 802.11g 網(wang)絡(luo)標準 的(de)CISCOAP電(dian)(dian)臺和(he)數個西門子SA電(dian)(dian)臺組(zu)成，其傳輸速率和(he)傳播距離(li)分(fen)別能(neng)達到2.4 GHz、54 Mbps和(he)290 m；其而現場的(de)后橋AGV環(huan)線(xian)(xian)和(he)發(fa)動(dong)機(ji)AGV環(huan)線(xian)(xian)通過SSID的(de)設置不同(tong)區分(fen)為(wei)兩個局域(yu)(yu)網(wang)；基于無(wu)線(xian)(xian)局域(yu)(yu)網(wang)，AGV實現了任務分(fen)配、避(bi)碰管理及所有工(gong)控機(ji)與(yu)各AGV之間(jian)的(de)所有信(xin)(xin)(xin)息交互(hu)。

4. 取電方式

在(zai)汽車(che)總裝(zhuang)線中(zhong)，底盤(pan)合(he)裝(zhuang)設備整體處于移動狀態中(zhong)且(qie)動作(zuo)頻繁，這就使(shi)得取(qu)電(dian)(dian)(dian)方式成為(wei)技術重點，也是現(xian)場(chang)維護中(zhong)設備故障的集(ji)中(zhong)點。軌道自行小車(che)采(cai)用(yong)滑(hua)觸取(qu)電(dian)(dian)(dian)方式，通過(guo)兩片碳刷與滑(hua)觸線接線獲取(qu)動力電(dian)(dian)(dian)（220 V）；而AGV則采(cai)用(yong)車(che)載電(dian)(dian)(dian)池組(zu)，在(zai)運行環線中(zhong)取(qu)兩個點定(ding)點充(chong)電(dian)(dian)(dian)，由于電(dian)(dian)(dian)池組(zu)為(wei)直(zhi)流，因此該種方式需要另外配制充(chong)電(dian)(dian)(dian)動機。