Abstract
Abstract Logistic train is one of the recent solutions applied in the intralogistics. It bases on the concept of the “milk-run” delivery method. The main problem in the implementation of intralogistics trains is the possibility to determine whether the train is able to pass the given path without a colliding with surrounding objects. Dynamic model presented in this paper was performed for the three most common steering systems for the trolleys: double Ackermann steering system and two drawbar systems: conventional and virtual clutch. The dynamic model was developed following Lagrange’s theorem including the possibility of lateral slip. The system of differential equations was numerically solved. In order to calculate the lateral friction forces we used three different tire models: simplified, sigmoidal and Pacejka Magic formula. The results obtained for different tire models and steering systems are presented in the form of animations presenting train run in various conditions. The analyses have shown that the use of simplified tire models is justified under certain conditions.
Highlights
The main goal of this paper is to develop a credible dynamic model of the multiple trailers on a tractor system for the production logistics application i.e. logistic train
We showed dynamic models of the three most popular steering systems for logistic trains with three different tire models
The comparison of drawbar systems helped to notice that the length of the longer drawbar and the center of gravity have a significant impact on slip
Summary
The main goal of this paper is to develop a credible dynamic model of the multiple trailers on a tractor system for the production logistics application i.e. logistic train. This includes the most common steering system: virtual clutch and drawbar system, conventional clutch and drawbar system as well as double Ackermann steering. The objective of this paper is to study the influence of different tire models and steering systems of trolleys on the slip effect This model should contribute to a better understanding of an impact of geometrical relations and friction on the trajectory of such systems in motion. It can help to estimate collision risk with nearby static objects
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