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Yaw stability control of automated guided vehicle under the condition of centroid variation

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Abstract

The centroid of an automated guided vehicle (AGV) changes due to the irregular position and uneven weight of the cargo on the load platform, which affects the completion of the handling task between stations in intelligent factories. This paper presents a hierarchical control strategy to improve yaw stability considering centroid variation. Firstly, the vehicle body and hub motor models are established based on dynamics. Secondly a hierarchical controller is designed by using the method of extension theory, model predictive control and sliding mode control. Then based on CarSim and Simulink, the low-speed step co-simulation condition of the AGV is carried out. Compared to the uncontrolled condition, the maximum deviation of the yaw rate is reduced from 0.58 to 0.52 rad/s, and the difference with the theoretical value is reduced from 16 to 4%; the maximum deviation of the centroid sideslip angle is reduced from − 0.84 rad to − 0.77 rad, and the difference with the theoretical value is reduced from 12 to 3%. Finally, a four-wheel drive and four-wheel steering AGV are manufactured to carry out inter station steering experiments in simulated factory environment on different road adhesion coefficients. The difference between simulation and experiment is less than 5%. The results show that the designed controller is effective, and the research can provide theoretical and experimental basis for the low-speed steering control stability of AGV.

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The datasets supporting the conclusions of this article are included within the article.

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Acknowledgements

Thanks are due to Dr. Ni for assistance with the experiments and to Dr. Zhao for valuable discussion.

Funding

This work was supported by National Natural Science Foundation of China (Grant No. 51405419), Natural Science Foundation of the Jiangsu Higher Education Institutions of China (Grant No. 18KJB460029) and Yancheng Institute of Technology Training Program of Innovation and Entrepreneurship for Postgraduates (Grant No. SJCX21_X2009).

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Authors and Affiliations

  1. School of Automotive Engineering, Yancheng Institute of Technology, Yancheng, 224051, Jiangsu, China

    Wei Liu, Qingjie Zhang, Yidong Wan, Ping Liu, Yue Yu & Jun Guo

  2. Jiangsu Coastal Institute of New Energy Vehicle, Yancheng, 224051, Jiangsu, China

    Wei Liu

Authors
  1. Wei Liu
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  2. Qingjie Zhang
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  3. Yidong Wan
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  4. Ping Liu
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  5. Yue Yu
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  6. Jun Guo
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Contributions

The author’ contributions are as follows: Wei Liu was in charge of the whole trial; Qingjie Zhang wrote the manuscript; Yidong Wan, Yue Yu, Ping Liu, Jun Guo assisted with sampling and laboratory analyses.

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Correspondence to Qingjie Zhang.

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Technical Editor:  Adriano Almeida Gonçalves Siqueira.

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Liu, W., Zhang, Q., Wan, Y. et al. Yaw stability control of automated guided vehicle under the condition of centroid variation. J Braz. Soc. Mech. Sci. Eng. 44, 18 (2022). https://doi.org/10.1007/s40430-021-03321-w

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  • DOI: https://doi.org/10.1007/s40430-021-03321-w

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