Structure Optimization And Fuzzy Sliding Mode Control Of AGV With Heavy Load

With the continuous development of intelligent manufacturing technology,heavy machinery,rail vehicles,ports and airports and other industries have needs of intelligent transportation of heavy load.This askes higher technical requirements of bearing capacity and control performance of AGV.The study of structural optimization and motion control of heavy load AGV has significant engineering application value.First,the topology optimization and size optimization of the car body structure of heavy load AGV are carried out to improve the control response characteristics and energy utilization efficiency of the mechanical system.On the one hand,variable density method and SIMP interpolation method are used to establish the topology optimization model of car body structure of heavy load AGV.The sensitivity function and iterative solution equation of the optimal criterion method are studied,and the topological optimization results of AGV car body structure are solved by ANSYS software.On the other hand,on the basis of topology optimization,the mechanical constraints and geometric constraints of AGV structure size optimization are analyzed,and the multi-objective optimization function of the structure size is established and solved by genetic algorithm.Finally,combined with the results of topology optimization and size optimization,the design scheme of heavy duty AGV car body is perfected,and the stiffness and strength of AGV car body is verified by ANSYS software.Secondly,a kinematic and dynamic model of differential drive heavy haul AGV is established.A hybrid robust control method based on Backstepping kinematics control and fuzzy sliding mode dynamic control is proposed.The simulation results show that the Backstepping technology effectively improves the tracking precision of the guidance path by the speed control of the AGV.Fuzzy sliding mode variable structure control combines fuzzy control and sliding mode variable structure control.It overcomes the influence of parameter uncertainty and external unknown disturbance of AGV dynamic model,and reduces the chattering caused by sliding mode switching control.In order to verify the actual control effect of the above method,a heavy load AGV experiment system was developed,and the path tracking experiment of large load carrying was completed.The experimental results show that the method can effectively improve the load bearing capacity and motion control precision of the heavy load AGV.