Modeling of Dynamic Behavior of AGV systems

Veiga, João; Sousa, J. M. C.; Machado, José; Mendonça, João Pedro; Machado, Toni

doi:10.1109/codit.2019.8820528

Cited by 4 publications

(3 citation statements)

References 5 publications

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“…e second is a simplified version composed of vertical and handling models for motion in a plane, assuming no planar forces on the trolleys' front wheels and linking the vehicles with multibody joints and body, representing the coupling arms, developed in Modelica language. Results show good agreement between the models but the second one was much faster and provided more stable results [6].…”

Section: Related Workmentioning

confidence: 80%

Mechatronic Modelling of Industrial AGVs: A Complex System Architecture

Sierra-García

Santos

2020

Complexity

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Automatic guided vehicles (AGVs) are unmanned transport vehicles widely used in the industry to substitute manned industrial trucks and conveyors. They are now considered to play a key role in the development of the Industry 4.0 due to their temporal and spatial flexibility. However, in order to deal with the AGV as a potential mobile robot with high capacities and certain level of intelligence, it is necessary to develop control-oriented models of these complex and nonlinear systems. In this paper, the modelling of this vehicle as a whole is addressed. It can be considered composed of several interrelated subsystems: control, safety, driving, guiding and localization, power storage, and charging systems. The kinematics equations of a tricycle vehicle are obtained, and a controller is proposed. An extended hybrid automata formalism is used to define the behaviour of the safety and the control systems, as well as their interaction. In addition, the electrical equivalent circuit of the batteries, charger, and the motors is studied. The architecture of the holistic model is presented. Simulation results of the AGV in a workspace scenario validate the model and prove the efficiency of this approach.

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Section: Related Workmentioning

confidence: 80%

Mechatronic Modelling of Industrial AGVs: A Complex System Architecture

Sierra-García

Santos

2020

Complexity

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“…Veiga et al proposed the dynamic modeling of an AGV in [27]. Two models of a towing car system with three linked towed cars are compared.…”

Section: Related Workmentioning

confidence: 99%

Performance and Extreme Conditions Analysis Based on Iterative Modelling Algorithm for Multi-Trailer AGVs

2022

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Automatic guidance vehicles (AGV) are industrial vehicles that play an important role in the development of smart manufacturing systems and Industry 4.0. To provide these autonomous systems with the flexibility that is required today in these industrial workspaces, AGV computational models are necessary in order to analyze their performance and design efficient planning and control strategies. To address these issues, in this work, the mathematical model and the algorithm that implement a computational control-oriented simulation model of a hybrid tricycle-differential AGV with multi-trailers have been developed. Physical factors, such as wheel-ground interaction and the effect of vertical and lateral loads on its dynamics, have been incorporated into the model. The model has 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 of slipping and capsizing and the influence of the number of trailers on the tracking error and the control effort. This way, the minimum lateral friction coefficient to avoid slipping and the minimum ratio between the lateral and height displacement of the center of gravity to avoid capsizing have been obtained. In addition, the effect of a change in the friction coefficient has also been simulated.

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“…En (Veiga et al, 2019) se propone el modelado dinámico de un AGV. Se comparan dos modelos de vehículos de un sistema de carros remolcadores con tres carros remolcados enlazados.…”

Section: Estado Del Arteunclassified

Modelado de un AGV híbrido triciclo-diferencial

Sánchez

Sierra-García

Santos

2021

Rev. iberoam. autom. inform. ind.

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En el ámbito industrial se utilizan con frecuencia Vehículos de Guiado Automático (AGV) para el transporte de mercancía puntual, normalmente sustituyendo a los medios de transporte manuales o a las cintas transportadoras, para así reducir costes operativos y errores humanos. Para aumentar el rendimiento de estos sistemas industriales y que puedan realizar funcionalidades más avanzadas, es fundamental desarrollar modelos orientados al control que permitan probar nuevas estrategias y técnicas de control que los hagan más eficientes y seguros. Para ello, en este trabajo se desarrolla un modelo cinemático y dinámico orientado al control de un AGV. El principal objetivo del trabajo es conseguir una representación matemática de la compleja dinámica del AGV Easybot, un vehículo híbrido triciclo-diferencial, que permita estudiar los efectos de carga remolcada y la interacción rueda-suelo. Para ello se ha desarrollado el modelo cinemático de la parte diferencial y del triciclo, y se han combinado ambos entre sí y con el desarrollo de la dinámica del vehículo. Se ha descompuesto el AGV en sus distintos módulos y se han aplicado las ecuaciones de Newton-Euler para obtener las ecuaciones de su comportamiento dinámico. El modelo se ha validado en simulación para diferentes trayectorias, variando la carga y la velocidad.

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Modeling of Dynamic Behavior of AGV systems

Cited by 4 publications

References 5 publications

Mechatronic Modelling of Industrial AGVs: A Complex System Architecture

Mechatronic Modelling of Industrial AGVs: A Complex System Architecture

Performance and Extreme Conditions Analysis Based on Iterative Modelling Algorithm for Multi-Trailer AGVs

Modelado de un AGV híbrido triciclo-diferencial

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