RT info:eu-repo/semantics/article
T1 Performance and Extreme Conditions Analysis Based on Iterative Modelling Algorithm for Multi-Trailer AGVs
A1 Sánchez-Martínez, Roberto
A1 Sierra Garcia, Jesús Enrique
A1 Santos, Matilde
K1 Mathematical modelling
K1 Iterative algorithm
K1 Autonomous vehicle
K1 AGV
K1 Multi-trailers
K1 Simulation
K1 Control
K1 Industry 4.0
K1 Electrotecnia
K1 Electrical engineering
AB Automatic guidance vehicles (AGV) are industrial vehicles that play an important role inthe development of smart manufacturing systems and Industry 4.0. To provide these autonomoussystems with the flexibility that is required today in these industrial workspaces, AGV computationalmodels are necessary in order to analyze their performance and design efficient planning and controlstrategies. To address these issues, in this work, the mathematical model and the algorithm thatimplement a computational control-oriented simulation model of a hybrid tricycle-differential AGVwith multi-trailers have been developed. Physical factors, such as wheel-ground interaction and theeffect of vertical and lateral loads on its dynamics, have been incorporated into the model. The modelhas been tested in simulation with two different controllers and three trajectories: a circumference,a square, and an s-shaped curve. Furthermore, it has been used to analyze extreme situations ofslipping and capsizing and the influence of the number of trailers on the tracking error and thecontrol effort. This way, the minimum lateral friction coefficient to avoid slipping and the minimumratio between the lateral and height displacement of the center of gravity to avoid capsizing havebeen obtained. In addition, the effect of a change in the friction coefficient has also been simulated.
PB MDPI
YR 2022
FD 2022-12
LK http://hdl.handle.net/10259/7554
UL http://hdl.handle.net/10259/7554
LA eng
DS Repositorio Institucional de la Universidad de Burgos
RD 11-dic-2024