货运AGV行驶稳定性分析  

Stability Analysis of Freight AGV Driving

作　　者：王殿君[1] 刘丁赫 陈亚[1] 朱亚东 WANG Dian-jun;LIU Ding-he;CHEN Ya;ZHU Ya-dong(College of Mechanical Engineering,Beijing Institute of Petrochemical Technology,Beijing 102617)

机构地区：[1]北京石油化工学院机械工程学院,北京102617

出　　处：《制造业自动化》2025年第3期9-16,共8页Manufacturing Automation

基　　金：北京市教委科技计划一般项目(KM201810017003);北京石油化工学院交叉学科项目(21032205004/005)。

摘　　要：为了提高货运AGV的稳定性,研究在随机路面激励条件下AGV悬架系统的响应情况,进行了货运AGV稳定性分析。首先,基于时间域与空间域变量及其导数变换关系,推导了整车振动耦合响应模型和路面激励模型。然后,基于BP神经网络优化引入正交设计对稳定性评价指标进行优化,获得了最优振动响应量组合方案。最后,仿真和试验分析了货运AGV在非稳定激励下状态变化对行驶稳定性的影响,验证了模型和优化的合理性,总结了AGV时间域与行驶状态变化的一般性规律,为研究AGV行驶稳定性提供了新的思路。To improve the stability of freight AGV,the response of AGV suspension system under random road excitation conditions was studied,and stability analysis of freight AGV was conducted.Firstly,based on the time domain and spatial domain variables and their derivative transformation relationships,a vehicle vibration coupled response model and a road excitation model were derived.Then,based on BP neural network optimization,orthogonal experiments were introduced to optimize the stability evaluation indicators,and the optimal vibration response combination scheme was obtained.Finally,simulations and experiments were conducted to analyze the impact of state changes on driving stability of freight AGVs under non-stationary excitation,verifying the rationality of the model and optimization.The general laws of AGV time domain and driving state changes were summarized,providing new ideas for studying AGV driving stability.

关 键 词：货运AGV 振动耦合响应模型 BP神经网络 稳定性分析 

分 类 号：TH16[机械工程—机械制造及自动化] U414[交通运输工程—道路与铁道工程]