Modeling of Dynamic Behavior of AGV systems

Vehicle models and dynamic system simulations are used to predict the behavior and dynamics of vehicles. In this paper two vehicle models of a tugger-trolleys system with three linked towed trolleys are compared. One model is a complete multibody model of the system. The second is a simplified version composed by a vertical and handling models for motion in a plane, assuming no planar forces on the trolleys' front wheels and linking the vehicles with multibody joints and body, representing the coupling arms. The second model was developed in Modelica language and a description of the model is presented. These models will be used to estimate the relative paths between the vehicles and the maximum admissible velocities of the system when taking a curve without rollover or sliding. Results show good agreement between the models. The second model was shown to be much faster and provide more stable results.