Mechatronic Modelling of Industrial AGVs: A Complex System Architecture

Table 1

Parameters of the wind turbine model.

Parameter	Description	Value/units
	Distance between wheels of the AGV	30 cm
	Distance between rear wheels and traction unit	100 cm
	Radius of front wheels	6 cm
	Radius of rear wheels	9 cm
	Mass of the AGV	100 kg
	Inertia of traction unit	0,11 kg m^2
	Rolling coefficient	0.01
	Aerodynamic coefficient	0.35
	Static friction coefficient of traction unit	0.1 N
	Viscous friction coefficient of traction unit	Ns/rad
	Static friction coefficient of traction wheels	2.94e − 2
	Viscous friction coefficient of traction wheels	5e − 4 Ns/rad
	Acceleration of the gravity	9.8 m/s^2
	Performance coefficient of the motor driver	0.9
	Current when AGV is stopped	1.5 A
	Resistance of the charger	10 KΩ
, ,	Resistances of the electrical model	[0.05, 0.1, 0.05] Ω
	Capacitance of the battery	1500 F
	Parasitic intensity	50 mA
	Resistance of the motor	1.2 ohm
	Inductance of the motor	5.8e − 4H
	Electromotive constant of the motor	0.66 kgm^2s^−2A^−1
	Capacity of the battery	150 Ah
[]	PID constants for velocity control of wheels	[2, 0.1]
]	PID constants for angular velocity control of the traction unit	[9.8, 1, 0.1]