基于万向轮的AGV原地转向阻力研究

Steering Resistance Research Based on Universal Wheel of AGV

目前国内对于AGV的驱动力匹配中,通常只考虑了行径上的阻力以及爬坡、起步加速所额外需要的驱动力。在安装有万向轮的AGV计算中,很少有考虑万向轮转向阻力矩给驱动电机所带来的额外负载。由于忽略该因素的影响,AGV在大负荷下原地转向时,通常会出现转向性能不好,甚至有转向时驱动电机过载而停止工作的现象。为提高各轮系布局的原地转向性能,给AGV底盘轮系结构提供设计的优化理论,本文通过构建AGV的转向动力模型并分析各关键因素对转向阻力的影响敏感度,从而得到提高底盘原地转向能力的优化方向。

At present,in the domestic matching of AGV driving force,usually only the resistance on the trail and the additional driving force required for climbing and starting acceleration are considered. In the calculation of AGVs equipped with universal wheels,little consideration is given to the extra load that the steering resistance of the universal wheels brings to the drive motor. Due to neglecting the influence of this factor,when AGVs turn onsite under heavy load,they usually have poor steering performance,and even the driving motor is overloaded and stops working when turning. In this paper,the AGV steering power model is constructed to study the influence of AGV wheel system structure on steering performance,and at the same time to find the curve of the impact of various key factors on steering resistance to obtain the research conclusion of the optimized wheel system layout. As well as dynamic matching provides theoretical and design references.