户外型AGV越障仿真方法与实验研究

Obstacle-Crossing Simulation Method of Outdoor AGV and Experimental Study

针对改善户外型自动导引车(AGV)的避振性和通过性的技术发展需求,提出并设计了一款户外型AGV的随动轮避振系统,并以此为研究对象,根据车辆悬架动力学理论,为其构建了7自由度动力学模型以及各方向运动的微分方程.并基于Simulink软件环境建立了仿真模型.在此基础上,以三角波输入为路面激励,对评价AGV稳定性的3个指标进行仿真分析.对AGV的越障通过性进行了实验,同时进行了AGV越障仿真方法效率对比实验,实验结果表明,AGV簧载质量最大位移均值为13.42 mm,本文建立的仿真模型的预测误差为4.6%,小于传统Adams软件的仿真预测误差.使用本文设计的基于Simulink的越障仿真方法比传统的Adams仿真方法节省了设计人员约28%的工作时间.

In response to the technical development needs of improving the vibration resistance and crossing ability of outdoor AGV(automated guided vehicle),a follow-up wheel vibration isolation system for outdoor AGVs is proposed and designed.Based on the vehicle suspension dynamics theory,a 7-DOF dynamic model and differential equations for motion in all directions are constructed.A simulation model is established using Simulink software environment.Based on this,three evaluation indicators for AGV stability are simulated and analyzed using triangular wave input as road excitation.Experimental tests are conducted on the obstacle-crossing capability of the AGV,along with efficiency comparison experiments between different obstacle-crossing simulation methods.The experimental results show that the mean maximum displacement of spring-loaded mass in the AGV is 13.42 mm,and the prediction error of the established simulation model is 4.6%,which is lower than that of the traditional Adams software’s simulation prediction error.The use of the proposed Simulink-based obstacle-crossing simulation method saves approximately 28%working time for designers compared to the traditional Adams simulation method.