Dynamic Modeling And Motion Control System Design Of Automatic Guided Vehicle

With the concept of "Intelligent Factory" and "Intelligent Logistics",the use of AGV has been booming.AGV realizes the transportation of goods along the established route through specific navigation mode.The use of AGV,on the one hand,can reduce labor costs,on the other hand,it can also reduce the error rate of picking up parts,achieve automated operation,improve work efficiency,therefore the study of AGV is extremely necessary.This paper mainly introduces two AGVs which are suitable for different factory environments.The latent AGV has tiny volume,can realize in-situ steering,and is suitable for product-intensive factories.The single rudder wheel AGV has a certain steering radius,and can carry heavy cargo,and is suitable for giant factories.In this paper,the mechanical structures of these two AGVs are designed,their three-dimensional models are drawn,and their dynamic control models are established.Finally,the control of their underlying hardware is realized.Two different types of AGV are designed by Solid Works software.The mechanical structure design of latent AGV is based on the whole vehicle structure,and specific to each module.The principle of differential drive is used to make AGV vehicle turn in situ.The mechanical structure of AGV with single rudder wheel is based on pallet carrier,and a new steering structure is designed to realize steering through motor control.Based on the mechanical structure of AGV,the dynamic analysis is carried out,and the dynamic models of two types of AGV are established.On the basis of kinematics analysis,considering the body weight and various friction resistance,the dynamic control model is established.In the process of dynamic modeling of latent AGV,the influence of cardan wheel on the whole dynamic model is also taken into account,and its Cardan wheel model is established.The control system of two different types of AGV is designed and debugged.Based on the principle of dynamic control model,the motion control system of AGV is described.Through the design of latent AGV and single rudder AGV motion control system,the main functions of AGV navigation system are understood,and the hardware of the control system is selected.Then the above control system is debugged to realize the basic functions of two AGVs,such as straight-line walking,steering,jacking,route guidance and information exchange.