自动导引车差速转向的动力学分析及仿真  

Dynamic analysis and simulation of speed-difference-typed AGV

作　　者：徐鸣谦[1] 肖一帆[1] 

机构地区：[1]同济大学机械工程学院,上海200092

出　　处：《中国工程机械学报》2006年第4期385-388,共4页Chinese Journal of Construction Machinery

摘　　要：通过对差速式自动导引车(AGV)进行受力分析建立车辆的静力学、动力学模型,通过静力学模型分析转向方式的可行性,根据建立的动力学方程,计算出车轮的运动轨迹,并利用Matlab/Simulink软件生成系统的仿真模型,对所述转向方式进行仿真研究,仿真结果可以验证差速转向的可能性及其转向时的稳定性.Based on the stress analysis of speed-difference-typed automated guided vehicle(AGV), the static and dynamic vehicle models are established. In this manner, steering modes are analyzed using the static model, whereas wheel tracks are calculated using the dynamic model. Afterwards, a simulation model of steering modes is formed via Simulink TM. As such, it is indicated that the simulation results could be applied for the feasibility and stability of speed-difference-based steering.

关 键 词：差速转向 动力学模型 轨迹 仿真 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]