Determining the Turning Angle and Set Speed of Steer and Drive Units in Vehicles for Industrial Use
Sund, Joakim J-E (2017)
Sund, Joakim J-E
2017
Automaatiotekniikka
Teknisten tieteiden tiedekunta - Faculty of Engineering Sciences
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Hyväksymispäivämäärä
2017-12-07
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tty-201711072112
https://urn.fi/URN:NBN:fi:tty-201711072112
Tiivistelmä
The topic for this thesis was given by Ab Solving Oy, which is specialized in the design and manufacturing of complex, heavy load handling systems, ranging from single air bearing elements to complex Automated Guided Vehicle (AGV) systems. This thesis focuses on developing the software (SW) used in Solving wheeled vehicles. The current structure of the SW does not allow Solving to produce vehicle types that are asked for on the market.
Solving would like to base the vehicle control on Siemens Programmable Logic Controllers (PLCs), partly for economic reasons and partly for customer demand. The Siemens PLCs are currently used only in Solving air film movers, but should be expanded to be used in other vehicle types as well. The current SW supports the use of precisely two or four wheels, which must be positioned in a specific fixed relation to one another. The immediate challenge Solving is facing is that customers are asking for three-wheeled air film movers that are obviously not supported by the current solution. There are also inquiries for vehicles with more than four wheels, which Solving are also not able to fulfill today.
This thesis presents a new program structure that will enable Solving to produce vehicles with an unrestricted amount of wheels positioned anywhere within the construction of the vehicle frame. The outcome of this thesis consists of two types of Function Blocks (FBs). Software engineers at Solving can use the FBs to create any imaginable layout of the wheels on the vehicle. By using the outcome of this thesis, Solving will be able to meet the market demands that they are not able to meet today.
Solving would like to base the vehicle control on Siemens Programmable Logic Controllers (PLCs), partly for economic reasons and partly for customer demand. The Siemens PLCs are currently used only in Solving air film movers, but should be expanded to be used in other vehicle types as well. The current SW supports the use of precisely two or four wheels, which must be positioned in a specific fixed relation to one another. The immediate challenge Solving is facing is that customers are asking for three-wheeled air film movers that are obviously not supported by the current solution. There are also inquiries for vehicles with more than four wheels, which Solving are also not able to fulfill today.
This thesis presents a new program structure that will enable Solving to produce vehicles with an unrestricted amount of wheels positioned anywhere within the construction of the vehicle frame. The outcome of this thesis consists of two types of Function Blocks (FBs). Software engineers at Solving can use the FBs to create any imaginable layout of the wheels on the vehicle. By using the outcome of this thesis, Solving will be able to meet the market demands that they are not able to meet today.