Optimal torque distribution of distributed driving AGV under the condition of centroid change

Abstract The torque distribution is researched under the condition of the centroid position of distributed drive automatic guided vehicle (AGV) with load platform and is uncertain due to the unknown movable load. The whole vehicle model under centroid variation, the efficiency model of the hub motor...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Wei Liu, Ping Liu, Yue Yu, Qingjie Zhang, Yidong Wan, Miufang Wang
Formato:	article
Lenguaje:	EN
Publicado:	Nature Portfolio 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/970541a532f544b3a18765c6112e431f
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:970541a532f544b3a18765c6112e431f
record_format	dspace
spelling	oai:doaj.org-article:970541a532f544b3a18765c6112e431f2021-11-08T10:54:58ZOptimal torque distribution of distributed driving AGV under the condition of centroid change10.1038/s41598-021-01038-32045-2322https://doaj.org/article/970541a532f544b3a18765c6112e431f2021-11-01T00:00:00Zhttps://doi.org/10.1038/s41598-021-01038-3https://doaj.org/toc/2045-2322Abstract The torque distribution is researched under the condition of the centroid position of distributed drive automatic guided vehicle (AGV) with load platform and is uncertain due to the unknown movable load. The whole vehicle model under centroid variation, the efficiency model of the hub motor and the torque distribution control strategy based on a PID neural network are established. A hierarchical controller is designed to accurately ensure the economy and stability of the vehicle. Simulations of the proposed control strategy are conducted, the results show that the total power and lateral deviation distance of the driving wheels are reduced by 17.63% and 61.54% under low load conditions and 15.54% and 61.39% under high load conditions, respectively, compared with those of the driving wheels under the average torque distribution, and the goal of close slip rates of the driving wheels is achieved. A system prototype is developed and tested, and the experimental results agree with the simulation within error permissibility. The margin of error is less than 5.8%, the results demonstrate that the proposed control strategy is effective. This research can provide a theoretical and experimental basis for the torque optimization distribution of distributed drive AGVs under centroid variation conditions.Wei LiuPing LiuYue YuQingjie ZhangYidong WanMiufang WangNature PortfolioarticleMedicineRScienceQENScientific Reports, Vol 11, Iss 1, Pp 1-11 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Wei Liu Ping Liu Yue Yu Qingjie Zhang Yidong Wan Miufang Wang Optimal torque distribution of distributed driving AGV under the condition of centroid change
description	Abstract The torque distribution is researched under the condition of the centroid position of distributed drive automatic guided vehicle (AGV) with load platform and is uncertain due to the unknown movable load. The whole vehicle model under centroid variation, the efficiency model of the hub motor and the torque distribution control strategy based on a PID neural network are established. A hierarchical controller is designed to accurately ensure the economy and stability of the vehicle. Simulations of the proposed control strategy are conducted, the results show that the total power and lateral deviation distance of the driving wheels are reduced by 17.63% and 61.54% under low load conditions and 15.54% and 61.39% under high load conditions, respectively, compared with those of the driving wheels under the average torque distribution, and the goal of close slip rates of the driving wheels is achieved. A system prototype is developed and tested, and the experimental results agree with the simulation within error permissibility. The margin of error is less than 5.8%, the results demonstrate that the proposed control strategy is effective. This research can provide a theoretical and experimental basis for the torque optimization distribution of distributed drive AGVs under centroid variation conditions.
format	article
author	Wei Liu Ping Liu Yue Yu Qingjie Zhang Yidong Wan Miufang Wang
author_facet	Wei Liu Ping Liu Yue Yu Qingjie Zhang Yidong Wan Miufang Wang
author_sort	Wei Liu
title	Optimal torque distribution of distributed driving AGV under the condition of centroid change
title_short	Optimal torque distribution of distributed driving AGV under the condition of centroid change
title_full	Optimal torque distribution of distributed driving AGV under the condition of centroid change
title_fullStr	Optimal torque distribution of distributed driving AGV under the condition of centroid change
title_full_unstemmed	Optimal torque distribution of distributed driving AGV under the condition of centroid change
title_sort	optimal torque distribution of distributed driving agv under the condition of centroid change
publisher	Nature Portfolio
publishDate	2021
url	https://doaj.org/article/970541a532f544b3a18765c6112e431f
work_keys_str_mv	AT weiliu optimaltorquedistributionofdistributeddrivingagvundertheconditionofcentroidchange AT pingliu optimaltorquedistributionofdistributeddrivingagvundertheconditionofcentroidchange AT yueyu optimaltorquedistributionofdistributeddrivingagvundertheconditionofcentroidchange AT qingjiezhang optimaltorquedistributionofdistributeddrivingagvundertheconditionofcentroidchange AT yidongwan optimaltorquedistributionofdistributeddrivingagvundertheconditionofcentroidchange AT miufangwang optimaltorquedistributionofdistributeddrivingagvundertheconditionofcentroidchange
_version_	1718442547418759168

Optimal torque distribution of distributed driving AGV under the condition of centroid change

Ejemplares similares