Simulation the dynamics of hub-motors of an automatic guided vehicle in occurrence of planetary gear tooth defects

The article discusses the process of studying the dynamics of hub-motor control systems mounted in an automatic guided vehicle (AGV), in the presence of breakage of the teeth of the ring gear of the planetary mechanism using virtual prototyping technologies. A model of a two-loop pulse modulated control system for the angular velocity of the Green E-Motion hub-motors as part of an AGV with a differential drive implemented in Matlab Simulink, with the integration of the mechanical part of the virtual prototype built in MSC Adams is described. The defect and backlash in the planetary gearbox of the hub-motors were modelled using 3D contact forces. Experimental test setup for the hub-motor virtual prototype validating is presented. As a result of co-simulation, the features of the hub-motors dynamics during the rectilinear movement of AGV in the occurrence of planetary gear tooth defects are revealed.