Research On Steering Dynamics And Lateral Stability Optimization Control Strategy For Port AGV

Among all kinds of transportation tools of the automated terminal,as a kind of special wheeled transportation robot,automated guided vehicle(AGV)has become one of the first choice transportation schemes of the port because of its high flexibility,manpower saving as well as high automation.High efficiency drive and high precision control is the core technology of AGV system,but the existing control and drive system has poor ability to resist external environment disturbance,as well as low control precision and poor intelligence.From the perspective of practical application,be aimed at the shortcomings of the existing technology,this subject took 4WID-4WIS power-driven port AGV as the research object,using the characteristics that the motor torque and wheel angle of each driving wheel motor of port AGV can be independently controlled,carried out the research on steering dynamics and lateral stability optimization control strategy for port AGV.Relevant simulation tests were carried out which effectively improved the driving safety,adaptability,reliability and efficiency of port AGV in outdoor complex environment.The primary research contents of this paper are as follows:1.In the light of the operating characteristics of port AGV,the dynamic model demand analysis and the geometric characteristics analysis of turning road were carried out.Based on Ackerman steering principle and multi-body dynamics principle,a 3-DOF port AGV vehicle model including lateral motion,roll motion and yaw motion,as well as a driving motor model,a wheel model and a tire model were established.2.Established a pavement adhesion characteristic model based on the characteristics of port environment.Using T-S fuzzy controller designed the fuzzy recognizer of Port Road,which could identify the peak longitudinal adhesion coefficient and the optimal slip rate.The identification results were used in the optimal slip rate control to prevent excessive wheel slip and improve the anti-skid performance of port AGV drive.3.Did research on the lateral stability optimization control strategy for port AGV.A port AGV lateral stability optimization control system has been designed,which based on a three-layer control structure.The steering angle and yaw rate of the wheel AGV and the centrifugal angle of mass were controlled in real time to output the desired yaw moment.After dynamic load distribution,optimized driving torque was output,achieved the steering and yaw coordinated control effect,so as to improve the path tracking ability,control accuracy,body stability and work adaptability of port AGV.4.A joint simulation platform for port AGV was built which based on MATLAB/Simulink and trucksim.Carried out simulation tests on port AGV dynamic stability performance and path tracking ability on single port pavement and opposite port pavement.The results showed that the technique designed in this paper was reasonable,feasible and effective.In summary,by studying the steering dynamics and lateral stability optimization control strategy of 4WID-4WIS power-driven port AGV,which provided the theoretical basis and technical support for the research on high efficiency drive and high precision control of port AGV.