Obstacle-Crossing Simulation Method of Outdoor AGV and Experimental Study

doi:10.12068/j.issn.1005-3026.2024.08.006

Abstract

Abstract:

In response to the technical development needs of improving the vibration resistance and crossing ability of outdoor AGV（automated guided vehicle）， a follow?up wheel vibration isolation system for outdoor AGVs is proposed and designed. Based on the vehicle suspension dynamics theory， a 7?DOF dynamic model and differential equations for motion in all directions are constructed. A simulation model is established using Simulink software environment. Based on this， three evaluation indicators for AGV stability are simulated and analyzed using triangular wave input as road excitation. Experimental tests are conducted on the obstacle?crossing capability of the AGV， along with efficiency comparison experiments between different obstacle?crossing simulation methods. The experimental results show that the mean maximum displacement of spring?loaded mass in the AGV is 13.42 mm， and the prediction error of the established simulation model is 4.6%， which is lower than that of the traditional Adams software’s simulation prediction error. The use of the proposed Simulink?based obstacle?crossing simulation method saves approximately 28% working time for designers compared to the traditional Adams simulation method.

Key words: outdoor type, automated guided vehicle, 7?DOF dynamics model, obstacle?crossing, simulation analysis

CLC Number:

TH 122

Ying-bo ZHAO, Shi-chao XIU, Yuan HONG, Xin-yu BU. Obstacle-Crossing Simulation Method of Outdoor AGV and Experimental Study[J]. Journal of Northeastern University(Natural Science), 2024, 45(8): 1107-1114.

Figures/Tables 17

References 15

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符号	参数名称	单位
M	AGV簧载质量	kg
a	1/2前后随动轮距	m
b	1/2左右随动轮距	m
k₂	随动轮等效刚度	N/m
z	AGV簧载质量位移	m
z₁	左前轮非簧载质量位移	m
z₂	右前轮非簧载质量位移	m
z₃	左后轮非簧载质量位移	m
z₄	右后轮非簧载质量位移	m
k₁	随动轮减振器刚度	N/m
c	随动轮减振器阻尼	N·s/m
q₁	左前轮路面激励	m
q₂	右前轮路面激励	m
q₃	左后轮路面激励	m
q₄	右后轮路面激励	m
I₁	AGV俯仰转动惯量	kg·m²
I₂	AGV侧倾转动惯量	kg·m²
θ	AGV簧载质量俯仰角	（°）
φ	AGV簧载质量侧倾角	（°）

符号	参数名称	单位
M	AGV簧载质量	kg
a	1/2前后随动轮距	m
b	1/2左右随动轮距	m
k₂	随动轮等效刚度	N/m
z	AGV簧载质量位移	m
z₁	左前轮非簧载质量位移	m
z₂	右前轮非簧载质量位移	m
z₃	左后轮非簧载质量位移	m
z₄	右后轮非簧载质量位移	m
k₁	随动轮减振器刚度	N/m
c	随动轮减振器阻尼	N·s/m
q₁	左前轮路面激励	m
q₂	右前轮路面激励	m
q₃	左后轮路面激励	m
q₄	右后轮路面激励	m
I₁	AGV俯仰转动惯量	kg·m²
I₂	AGV侧倾转动惯量	kg·m²
θ	AGV簧载质量俯仰角	（°）
φ	AGV簧载质量侧倾角	（°）

符号	参数名称	单位	数值
M	AGV簧载质量	kg	483
a	1/2前后随动轮距	m	1
b	1/2左右随动轮距	m	0.75
k₂	随动轮等效刚度	N/m	150 000
k₁	随动轮减振器刚度	N/m	15 000
c	随动轮减振器阻尼	N·s/m	1 200
I₁	AGV俯仰转动惯量	kg·m²	53
I₂	AGV侧倾转动惯量	kg·m²	38

符号	参数名称	单位	数值
M	AGV簧载质量	kg	483
a	1/2前后随动轮距	m	1
b	1/2左右随动轮距	m	0.75
k₂	随动轮等效刚度	N/m	150 000
k₁	随动轮减振器刚度	N/m	15 000
c	随动轮减振器阻尼	N·s/m	1 200
I₁	AGV俯仰转动惯量	kg·m²	53
I₂	AGV侧倾转动惯量	kg·m²	38

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