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The torque distribution is researched under the condition of the centroid position of distributed drive automatic guided vehicle (AGV) with load platform and is uncertain due to the unknown movable load. The whole vehicle model under centroid variation, the efficiency model of the hub motor and the torque distribution control strategy based on a PID neural network are established. A hierarchical controller is designed to accurately ensure the economy and stability of the vehicle. Simulations of the proposed control strategy are conducted, the results show that the total power and lateral deviation distance of the driving wheels are reduced by 17.63% and 61.54% under low load conditions and 15.54% and 61.39% under high load conditions, respectively, compared with those of the driving wheels under the average torque distribution, and the goal of close slip rates of the driving wheels is achieved. A system prototype is developed and tested, and the experimental results agree with the simulation within error permissibility. The margin of error is less than 5.8%, the results demonstrate that the proposed control strategy is effective. This research can provide a theoretical and experimental basis for the torque optimization distribution of distributed drive AGVs under centroid variation conditions.

Optimal torque distribution of distributed driving AGV under the condition of centroid change