Research On The Structural Design And Tracking Control Method Of Multi-differential Drive Heavy-duty AGV

With the rapid development of smart manufacturing-related technologies and digital transformation strategy,the manufacturing industry adopts Automated Guide Vehicle(AGV)to realize automated logistics between workstations.As heavy-duty and large workpiece logistics equipment,heavy-duty AGVs are an important part of intelligent logistics system.In order to realize the safe and stable transfer of heavy-duty AGV system,the key to the successful application of heavy-duty AGV is to improve the bearing and driving capacity of heavy-duty AGV and to realize the high-precision control during the operation of AGV.Therefore,it is of great engineering value and scientific significance to study the design scheme of heavy-duty AGV drive module and path tracking control method.In this paper,we take the multi-differential speed heavy-duty AGV system as the research object and study the key technologies of differential speed drive module design and tracking control.The main work is as follows.1.The structural scheme of staggered arrangement of driv e motors on the outer side is adopted for the demand of compact structure of differential drive module in view of the structural size limitation of heavy-duty AGV.Based on the optimization theory,the optimization variables and constraints of the differen tial drive module’s rotation radius are analyzed,and the structure of the drive module is optimized for the minimum rotation radius.The problem that the size of differential drive module is large and the rotation radius affects the size of the vehicle is solved.2.For the demand of heavy-duty AGV with high load capacity and large drive,the drive module with inner and outer double-layer structure and oscillating bridge suspension structure are combined to ensure the load capacity and drive force of the designed drive module by reducing the height of the articulation point to reduce the normal load capacity gap of the drive wheels.3.For the stable and accurate motion control of heavy-duty AGV,a path tracking control algorithm based on the combination of fuzzy theory and linear quadratic regulator(LQR)control is designed to meet the control requirements of accurate tracking of heavy-duty AGV.4.The finite element simulation and motion simulation of the AGV system under typical working conditions are carried out to prove the rationality of the optimized design of the drive module structure.5.The real vehicle system test was conducted.The rationality of the designed multi-differential drive heavy-duty AGV structure and the feasibility of the path tracking control algorithm applied on the actual AGV system were verified.