Research On Structure And Control Strategy Of Differential Drive AGV For Steering Stability

AGV is one of the important components of intelligent warehousing logistics,and improved the efficiency of warehouse operations greatly.AGV undertakes cargo delivery tasks in warehousing logistics,the operational status is extremely important.In the process of pivot steering of one AGV with fork based on front differential drive at light load,there was a deviation from the center of rotation which effect on the normal operation work.In addition,car body of the fork AGV at light load is oversized,not only consumes energy,affects the flexibility of its operation.So the character of pivot steering stability of AGV was researched based on dynamics analysis and simulation in this paper.And the structure of car body was optimized.In addition,the control strategy of steering of AGV was researched,the steering control system was designed to further improve the pivot steering stability of the AGV.The main research contents of this article include:(1)Dynamic analysis method was adopted.The pivot steering dynamics model of AGV was constructed in theory,and the steering deflection of pivot steering of AGV was analyzed.It was derived about some relevant formulas which affecting the pivot steering stability,and some crucial parameters include the structure and motion was obtained.The result provides theoretical basis for the simulation of pivot steering of AGV,and there is reference value for research on dynamic analysis of similar AGV.(2)Based on the simulation with dynamic software ADAMS,the pivot steering of AGV was simulated.According to the results,it was obtained about the relation between the pivot steering stability and crucial parameters,and it was verified about the accuracy of formulas.The theoretical foundation was provided for the optimization of AGV from the result.(3)The static state of car body of the fork AGV was analyzed through finite element analysis software ANSYS,in case of design margin,the material and size of car body was optimized.In the process of optimization,the lightweight of car body as the objective,the strength and stiffness of car body as the constraint.The size of car body was decrease.The eccentricity was optimized base on dynamics analysis,and the whole AGV structure was optimized.The motion parameters about the pivot steering of AGV were analyzed,and the reasonable design was given.(4)According to the existent insufficiency of AGV in structure and assembly,the control strategy of steering of AGV was researched,fuzzy PID control was adopted for the steering.And the software and hardware design about the steering control were designed.After debugging,the deviation from the center of rotation was improved.The optimized fork AGV was stability in pivot steering,and met the actual work requirements fully,and the power consumption was reduced,there is a great engineering significance.