Abstract
As one of the important components of intelligent warehousing logistics, Automated Guided Vehicles (AGVs) have greatly improved the efficiency of warehousing operations. AGVs are responsible for the delivery of goods in warehousing and logistics, and it is extremely important to maintain a stable running state. In this paper, an AGV in-situ steering dynamic model is established according to the actual size, and the center deviation phenomenon during AGV steering is theoretically analyzed to obtain the parameters that affect the AGV’s in-situ steering stability. Secondly, the dynamic simulation method is used to analyze the law of the stability of the AGV in-situ steering parameters to verify the correctness of the theoretical derivation equation. According to the analysis results, the motion parameters related to AGV in-situ steering are analyzed, and a reasonable design scheme is given. Based on the optimized fork-type AGV, the AGV in-situ steering control strategy is studied, and the adaptive fuzzy PID control algorithm is used to construct the fork-type AGV steering control system. Then the software and hardware design of the AGV steering control system is carried out. The optimized fork-type AGV has been turned to work stably after commissioning, meeting the actual work requirements.
Highlights
An Automated Guided Vehicle (AGV) is an automated vehicle that is powered by a battery and can automatically travel along a planned path [1,2,3]
According to Equation (8), when the fork-type AGV turns, the maximum static friction force on the ground of the driving wheel is greater than the component of the inertial force generated by the AGV in the x direction, and the AGV can avoid the possibility of side slip
During the AGV’s in-situ steering process, when the torque formed by the force provided by the ground to the drive wheels cannot reach the moment of inertia of the circular motion of the AGV, the drive wheels slip
Summary
An Automated Guided Vehicle (AGV) is an automated vehicle that is powered by a battery and can automatically travel along a planned path [1,2,3]. The fork-type AGV mainly in terms of their control systems. Hefei University of Technology [19] designed a latent traction AGV with a navigation method of method magnetic stripand guidance andmethod a driving of two-wheel drive. In addition addition to on the the control control system, system, most the structure structure of of forklifts forklifts is is focused on heavy-duty forklifts, which are more concentrated on the forks carrying heavy objects. Focused on heavy-duty forklifts, which are more concentrated on the forks carrying heavy objects. A fork structure that meets the requirements is obtained, which which notsaves onlymaterials, saves materials, reduces the power of the trolley. AGV, stress concentration area and the parts prone to deformation of the fork structure. AGV, stability of of thethe fork-type on on thisthis basis.
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