Approaching to the stable transportation based on motion profile phases for material handling system

Abstract

Transportation is a critical part of logistics in any economy. In the context of industrialization and modernization, a solution to enable utilization of autonomous vehicles that work with uncertain factors, high speed, and continuous motion is urgent. The anti-vibration control of this system plays a vital role in avoiding accidents, especially when sharing space with humans. Therefore, in this paper, non-vibration control strategies, such as the linear motion profile (LMP), symmetric motion curve (SMC), and asymmetric motion curve (ASMC), based on the phases of motion profiles, are investigated for a lifting type of carrier. Firstly, the system modelling of both the vehicle and cargo is conducted. Secondly, by analysing the dynamic characteristics, the motion performance in both the acceleration phase and deceleration phase is achieved. Several constraints are validated in order to maintain the stable motion. In the experiments, four cases including a test without the algorithm and with the algorithm with LMP, SMC, and ASMC are examined. From these results, the peak acceleration of these schemes, LMP, SMC, and ASMC, respectively, decrease by 28.5%, 20.3%, and 10.1% compared with the case without the algorithm. The contributions of this research are (i) to analyse the poles and zeros for a load–vehicle system with respect to its dynamic characteristics, (ii) to propose a vibration attenuation control scheme based on the classification of the motion phases, and (iii) to employ various smoothing profiles to demonstrate the comparative performance. These results can be widely applied to the sustainability of not only the logistics field but also digital trade.