基于凯恩方法的麦克纳姆轮AGV动力学建模及仿真

Dynamic Modeling and Simulation of Mecanum AGV Based on Kane Method

根据麦克纳母轮的结构特点,基于运动学分析,分析了麦克纳母轮AGV的运动约束方程。在全局坐标系和随体坐标系建立了速度对应关系,在随体坐标系内进行速度运动模式规划,在全局坐标系进行轨迹规划,使麦轮AGV实现全向运动。在运动学约束的基础上,基于凯恩方法,分析了麦轮AGV运动学递推关系和受力情况,建立了麦克纳母轮AGV的动力学微分方程,并进行了仿真。最后,结合工程实践的需要,基于PID方法设计了麦轮AGV的控制系统,结果表明控制系统设计可以满足一般工程使用要求。相关研究内容一方面可用于基于伺服控制的AGV控制系统设计,另一方面可用于AGV动力学仿真,分析麦轮AGV的受力情况和动力学响应,实现多机联动的复杂控制。

According to the structural characteristics of Mecanum wheel AGV and based on kinematics analysis,the motion constraint equation of Mecanum wheel AGV is analyzed in this paper.The velocity corresponding relationship is established in the global coordinate system and the body coordinate system.The velocity motion mode planning is carried out in the body coordinate system,and the trajectory planning is carried out in the global coordinate system to realize the omni-directional motion of the Mecanum wheel AGV.On the basis of kinematic constraints,based on Kane method,the kinematic recurrence relation and force condition of Mecanum AGV are analyzed,and the dynamic differential equation of Mecanum AGV is established and simulated.Finally,combined with the needs of engineering practice,the control system of McLaren AGV is designed based on PID method.