Kinematic model of multiple trailers on a tractor system for production logistics applications

• Autorzy: Paszkowiak Wojciech , Bartkowiak Tomasz , Pelic Marcin

Identyfikatory

DOI

10.2478/amtm-2019-0004

• Języki publikacji: EN

Abstrakty

EN

This paper demonstrates kinematic analysis of multiple trailers on a tractor system for production logistics. The analysis concerned three different steering systems of the trailers: virtual clutch and drawbar system, conventional clutch and drawbar system, double Ackermann steering system. Designed kinematic models contain various variants of paths: turning at a constant value of the steering angle, changing the steering angle as a result of an approaching collision. Each of these variants also included driving in a straight line after a 90° turn. The validation of the developed kinematic model was done by using a real logistic train, which path was registered via aerial drone. For each of the developed kinematic models, a visualization of drive through the 90° turn was created.

Słowa kluczowe

EN

milk-runner; kinematic analysis; steering system; collision; validation

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Archives of Mechanical Technology and Materials
• Rocznik: 2019
• Tom: Vol. 39
• Strony: 16--25
• Opis fizyczny: Bibliogr. 15 poz., rys.

Twórcy

autor

Paszkowiak Wojciech

• Poznan University of Technology, Institute of Mechanical Technology, Pl. M. Sklodowskiej-Curie 5, 60-965 Poznan, Poland

autor

Bartkowiak Tomasz

• Poznan University of Technology, Institute of Mechanical Technology, Pl. M. Sklodowskiej-Curie 5, 60-965 Poznan, Poland

autor

Pelic Marcin

• Poznan University of Technology, Institute of Mechanical Technology, Pl. M. Sklodowskiej-Curie 5, 60-965 Poznan, Poland

Bibliografia

• [1] Altafini C., Some properties of the general n-trailer, Int J Control 2001; 74: 409-424.
• [2] Bravo-Doddoli A., Garcia-Naranjo L., The dynamics of an articulated n-trailer vehicle, Regular and Chaotic Dynamics, 20(5), pp.497-517, 2015.
• [3] Hou X., Yue M., Zhao J., Zhang X., An ESO-based integrated trajectory tracking control for tractor-trailer vehicles with various constraints and physical limitations, International Journal of Systems Science, 49(15), pp.3202-3215, 2018.
• [4] Keymasi Khalaji A., Moosavian S.A.A., Adaptive sliding mode control of a wheeled mobile robot towing a trailer,IMechE, 2014.
• [5] Keymasi Khalaji A., Moosavian S.A.A., Dynamic modeling and tracking control of a car with n trailers,Multibody System Dynamics 37(2), pp.211-225, 2015.
• [6] Keymasi Khalaji A., Moosavian S.A.A., Non-model based control for a wheeled mobile robot towing two trailers, IMechE, 2014.
• [7] Lashkari N., Biglarbegian M., Yang S., Backstepping Tracking Control Design for a Tractor Robot Pulling Multiple Trailers, Annual American Control Conference (ACC), 2018.
• [8] Paszkowiak W., Projekt układu kinematycznego pociągu logistycznego typu mleczarz i jego walidacja, Master Thesis, Poznan University of Technology, Poznań 2018.
• [9] Rouchon P., Fliess M., LE' Vine J., et al., Flatness and motion planning: the car with n trailers, In: 2nd Europeancontrol conference, Groningen, NL, 28 June-1 July 1993,pp.1518- 1522.
• [10] Siegwart R., Nourbakhsh I., Autonomous Mobile Robots, A Bradford Book, London 2004, pp 47-88.
• [11] Yue M., Hou X., Fan M., Jia R., Coordinated trajectory tracking control for an underactuated tractor-trailer vehicle via MPC and SMC approaches, 2017 2nd International Conference on Advanced Robotics and Mechatronics (ICARM), 2017.
• [12] Internet portal dedicated to logistics (24.06.2018), available at: www.logistyczny.com.
• [13] The official ATRES INTRALOGISTICS website (24.06.2018), available at: www.atres.pl.
• [14] The official LKE website (24.06.2018), available at: www.lke- intralogistik.com.
• [15] The official WAMECH website (24.06.2018), available at: www.leanintralogistics.com.

Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).