Development of an energy-oriented control system for automated guided vehicles based on the integration of an on-board energy flow measurement system

This thesis is about the determination of an Automated Guided Vehicle's (AGV's) energy demand for single tasks. To determine that, influential factors on the energy demand were investigated. Common literature about that topic was examined and is listed. First, the influential factors were separated into static and dynamic as well as into internal and external. The possible determination methods were identified in Measurement, Dynamic Simulation, Analytical Calculation and Estimation such as data from the data-sheet. Then, two testing series were done. The testing object was a MiR100 platform, which is an AGV for load transport with four castor and two driving wheels. The first test was to determine the energy demand for several movements with the platforms internal measurement data. The second one used an external Hall sensor current clamp and an Arduino Yún for measuring. Finally, the data was analysed. The first data set had to be excluded from further investigations due to high inaccuracies. From the second data set more plausible values could be acquired. For the elemental movements linear, curvature and turn movements, a specific current was determined. By calculation the predicted energy demand of a combined movement and comparison with the measured energy demand, a total deviation of 3.6 % was found. The results suggest, that the prediction of the energy demand of any task can be achieved in the future through measurements of the energy demand for elemental movements. The literature review revealed, that there is a demand for that determination and therefore further research and finer determinations will be necessary. Moreover, the results revealed the necessity for external measurements, due to the inaccuracies of the internal platform data.