The Dynamic Models And Movement Control Of Automated Guided Vehicle

When we study AGV movement conditions, the usual AGV kinematics models are studied more, but dynamics models are continuously neglected. Along with gradual expansion of AGV application as well as reliable, flexible, secure and intellectualized level request enhancement, it set a higher request to the AGV modeling. In dynamics model foundation, the synthesis should be considered electrical machinery, weight distribution, each kind of resistance to the influence of vehicle speed, so it is extremely important to establish the suitable dynamic equation models to study AGV movement.We establish kinematics and dynamics models of many kinds of structure AGVs in many kinds of movement mode, and through MATLAB and ADAMS simulations, determine and compare their stabilities, and through the scene experiment carry on the path confirmation. The simulation and the experiment data and conclusions provide the instruction and the theory basis to do AGV structure design and the movement control design.Based on the successful development of the driver for brushless DC motor, we chose to drive brushless DC motor to control AGV movement. Through DSP and GAL, we control MOSFET to drive brushless DC motor acutely, in addition many sensors, we can obtain the current-loop and the speed-loop to do double closed-loop control. Through different actuation control to the wheel hub electrical machinery on various wheels and guiding system, we can realize different movement functions.