The Motion Control System Based on ARM and Multi-sensor Information Fusion Technology

摘要

Aiming at the construction requirements of "outdoor test field for LED street lamp", an auto test vehicle for outdoor illuminance performance was developed. The test vehicle is consisted of AGV, AGV controller, encoder interface circuit, measurement & control terminal and remote controller. The AGV controller collects signals from encoders and landmark sensors. The position information of AGV is accurately measured by multi-sensor information fusion technology. The AGV controller identifies the parameters dynamically such as kinetic lead, controls the action of AGV. In the AGV motion control system, the AGV positioning error is within 3cm, meet measurement requirements of outdoor test field. Through the interface circuit with measurement & control terminal, the AGV controller can test the related parameters of outdoor LED lamp automatically, such as illuminance parameters and electrical parameters. These parameters can be transmitted to the control center with wireless networks.