Movement Of Carriage Research Articles

Assessment of the Quality Indicators of the Carriage Movement by Directly Measuring the Forces of Interaction between the Wheels and Rails

Assessment of the Quality Indicators of the Carriage Movement by Directly Measuring the Forces of Interaction between the Wheels and Rails

Metrology of Short-Length Measurers-Development of a Comparator for the Calibration of Measurers Based on Image Processing and Interferometric Measurements.

For the calibration of linear scales, comparators are generally used. Comparators are devices that enable the movement of an evaluation apparatus over a calibrated scale along a linear base with high precision. The construction of a comparator includes a movable carriage that carries the device for the evaluation of the position of the given edge of the line scale relative to the beginning of the scale. In principle, it involves a camera capturing the scale of the measurer, where the position of the camera's projection center is measured using an interferometer. This article addresses the development of a comparator assembled from low-cost components, as well as the description of systematic influences related to the movement of individual parts of the system, such as the inclination and rotation of the camera and directional and height deviations during the carriage's movement. This article also includes an evaluation of the edge of the given scale with subpixel accuracy, addressing distortion elimination and excluding the influences of impurities or imperfections on the scale. The proposed solution was applied to linear-scale measurers, such as leveling rods with coded and conventional scales and measuring tapes. The entire process of measurement and evaluation was automated.

Determining the optimal angle of traction force application of a "walking sledge" skidding device

Problem. Rounwood skidding is one of the most important operations during a timber harvesting. Often, especially during the shelterwood and improvement felling, it is necessary to use small-sized means of mechanization, including horse traction. For the effective use of horse traction, it is advisable to use special means that would facilitate the work of animals and allow to achieve appropriate labor productivity on skidding operation. The most famous and numerous auxiliary devices for horse timber skidding are various carriages whose design is constantly being improved. However, the carriages have proven themselves well on soils with high bearing capacity. On moistened and overmoistened soils, during the movement of such carriages with load, significant resistance to the rolling (movement) of the carriage’s wheels occurs, due to the significant wheels’ subsidence in the soil and the appearance of soil prisms in front of the wheels in the direction of movement. Even greater complications arise, when an obstacle appears - a stone, stump, etc. Then the movement of the wheel, depending on the obstacle, is impossible or requires a significant increase in the traction force. Therefore, the development of environmentally safe and energy-saving technologies and equipment for timber logging in complicated, particularly swampy, forest usage conditions is an important task for forestry scientists. Goal. The purpose of the research is to confirm the effectiveness of the skidding device "walking sledge" (obtained theoretically), namely to determine the optimal angle of traction force application for moving the device in the presence of obstacles. Methodology. Experimental studies were carried out with the use of a small-sized skidding device "walking sledge" in laboratory conditions with three different weights of the wood package (load), on surfaces with different sliding resistance coefficients, namely on a surface with a low coefficient of movement resistance (chipboard), on a surface with a high coefficient of movement resistance (concrete) and snow cover, which simulates the real conditions of the skidding device usage. The movement of the skidding carriage was carried out with and without an obstacle. Results. As a result of the conducted experimental studies, the optimal angle of traction force application for moving the skidding device "walking sledge" during its movement in a cutting area in the presence of obstacles has been determined, which lies in the range of 15°-19°. Originality. The small-sized skidding device "walking sledge" has been developed at the Ukrainian National Forestry University, which combines the advantages of both a sliding-type mover and a wheeled-type mover [1]. Such device is intended for use in a complicated conditions of forest usage, namely on swampy cutting areas. The carriage mover, when it meets with an obstacle or when it is “immersed” in the swamp, scrolls and makes a step. The proposed device received a utility model patent № 109011 [2]. Practical value. The proposed skidding devise "walking sledge" has shown its effectiveness when used in conditions closed to real ones and is recommended for usage during logging operations in moistened and waterlogged plots of forest cutting areas.

Measurement of Individual Tree Parameters with Carriage-Based Laser Scanning in Cable Yarding Operations

Introduction: Cable yarding is a technology that enables efficient and sustainable use of timber resources in mountainous areas. Carriages as an integral component of cable yarding systems have undergone significant development in recent decades. In addition to mechanical and functional developments, carriages are increasingly used as carrier platforms for various sensors. The goal of this study was to assess the accuracy of individual standing tree and stand variable estimates obtained by a mobile laser scanning system mounted on a cable yarder carriage.Methods: Eight cable corridors were scanned across two forest stands. Four different scan variants were conducted, differing in the movement speed of the carriage and the direction of movement during scanning. An algorithm for tree detection, diameter and height estimation was applied to the 3D datasets and evaluated against manual tree measurements.Results: The analysis of the 3D scans showed that the individual tree parameters strongly depend on the scan variant and the distance of each individual tree to the skyline. This was due to changing 3D point densities and occlusion effects. It turned out that scan variant 1, in which the scan was performed during slow carriage movement downwards and back upwards again, was advantageous. At a distance of 10 m, which is half of the recommended corridor spacing of 20 m for whole tree cable yarding, 95.44% of the trees in stand 1 and 92.16% of the trees in stand 2 could be detected automatically. The corresponding root mean sqare errors of the diameter at breast height estimatimations were 1.59 cm and 2.23 cm, respectively. The root mean square errors of the height measurements were 2.94 m and 4.63 m.Conclusions: The results of this study can help to further advance the digitization of cable yarding and timber flow from the standing tree to the sawmill. However, this requires further development steps in cable yarder, carriage, and laserscanner technology. Furthermore, there is also a need for more efficient software routines to take the next steps towards precision forestry.

Analysis of the movement of an empty railcar on the longitudinal profile of the sorting slide

The article uses analytical formulas derived from the application of the basic law of dynamics for non-ideal connections (the Dalembert principle), the calculation of the kinematic parameters of the rail carriage movement (acceleration, time, braking path) in the braking zone on the site of the first braking position of the sorting slide is performed. All over the world, it is becoming increasingly important to design and build modern sorting stations, as well as to choose the right height for sorting slides. The main function of the sorting slide at railway stations is the disbanding of trains, as well as the formation of new trains. Sorting will depend on how rationally the profile of the descending part of the slide is designed. Calculation of the height of the descending part of the slide and design work is carried out according to the existing method, according to which the movement of the railcar on the slope of the sorting slide, the speed is determined by the expression of the rate of fall of the railcar vertically, taking into account the inertia of the rotating masses. This, in turn, creates several problems. In developed countries, including the US, Germany, Sweden, China, India, and Russia much attention is paid to the development of methods, such as mechanization and automation of sorting ways of stations that affect haul transport and local rail network [1-7].

Electric Drive SCADA Development with Vijeo Designer (Schneider Electric)

The paper is devoted to the disclosure the construction of the SCADA system for managing the operating modes and monitoring the electric drive of the overhead crane. The material is provided in the form of step-by-step instructions for building such a system in the Vijeo Designer program. The creation of a new project, interface elements, binding variables with interface elements, setting the behavior of dynamic interface elements are shown in detail. The issue of communication of global variable visual elements of the interface with the M241 controller and the program in SoMachine has been revealed. The developed interface allows to control three mechanisms of the bridge crane: main hoist, auxiliary hoist and carriage movement. It is shown how to control frequency converters that are connected to the controller through different types of communication: direct analog to the controller, and through the Ethernet/IP protocol. The work will be useful for academic purposes in teaching students as well as for researchers and industrial engineers.

Development of Electric Drive Control System in SoMachine (Schneider Electric)

This paper is devoted to the disclosure of opportunities for the development of an electric drive control system based on frequency converters manufactured by Schneider Electric. The paper contains the results of practical experience in the manufacture of hardware, parameterization and programming of the control system. As a control object, a bridge crane with main hoist, auxiliary hoist and carriage movement mechanisms is considered. This crane was developed and assembled by the authors and is used for teaching students, conducting research by graduate students and scientists. Despite the availability of materials on this topic, the paper aims to provide a complete description of the system from sensors and controller to visualization and connectivity. Provides debugging information for the ATV930, ATV 320, Magelis HMISTU855 touch panel, and M241 controller. The development of the dispatching control system for the crane mechanisms was carried out using SoMachine (control part) and Vijeo Designer (visualization part) software. Recording of experimental data and parameterization of frequency converters is performed in SoMove software. This paper will be useful both for academic purposes in teaching students, researchers, as well as for motorers of industrial enterprises.

Quantitative and qualitative workload assessment in steep terrain forest operations: fostering a safer work environment through yarder automation

Many forestry roles have changed from being manual tasks with a high physical workload to being a machine operator task with a high mental workload. Automation can support a decrease in mental fatigue by removing tasks that are repetitive and monotonous for the operators. Cable yarding presents an ideal opportunity for early adoption of automation technology; specifically the carriage movement along a defined corridor. A Valentini V-850 cable yarder was used in an Italian harvesting setting, in order to gauge the ergonomic benefit of carriage control automation. The study showed that automating yarder carriage movements improved the ergonomic situation of the workers directly involved in the related primary tasks. However, the caveat is that improving one work task may negatively affect the other work tasks, and therefore introducing automation to a worksite must be done after considering all impacts on the whole system. Practitioner summary: Automation decreased the winch operator’s mental workload while improving overall productivity. At the same time, the mental and physiological workload of the operator tasked with bucking were slightly increased. Ideally, winch automation should be coupled with bucking mechanisation to balance the intervention and boost both operator well-being and productivity.

DETERMINATION OF INSTALLATION PARAMETERS FOR FORMATION OF BRICK PREPARATIONS THAT PROVIDE MINIMUM ERROR OF MOVING

The paper presents examples of modern mechanisms that in the process of their work require the simultaneous execution of two or more movements. Methods of synchronization of several hydraulic drives depending on the operating conditions of such mechanisms are considered. There are methods for using a throttle flow divider, a flow divider with an adjustable ratio, two independent circuits with their combination using a fuzzy logic controller, and others. The relevance of the optimal selection of design parameters that directly affect the error of motion synchronization is substantiated. A variant of improving the cutting machine for forming brick blanks by replacing the mechanical structure with a hydraulic drive is proposed, its main advantages are determined. The hydraulic scheme of the installation for forming a brick blank is presented, and the principle of operation of this device is described. A mathematical model of the dynamics of the carriage motion of an installation for brick formation has been developed, which is represented by a system of nonlinear differential equations. Rosenbrock’s method was used to solve the developed system. The block diagram of solving the equation of operation of the hydraulic cylinder of the installation for the formation of brick blanks is presented and a simulation study of the dynamics of the carriage of the installation in the environment of MATLAB Simulink. As a result of the study, the dependences of the speed of movement and movement of the carriage of the installation for the formation of brick blanks were obtained. The dependences of the influence of the most important parameters on the value of the error of the carriage movement of the installation for the formation of brick blanks are determined. These parameters are: the area of the working window of the throttle, the area of the auxiliary hydraulic cylinder and the stiffness of the spring. Numerical values of parameters at which the error of movement of the carriage of the installation for formation of a brick concerning a clay bar will be minimum are recommended.

‘Look out! Get back!’ Horse-drawn traffic and its challenges in Belgian cities in the early modern period

AbstractThe horses transporting men and merchandise were key actors in urban development at the very time they placed the city's ability to organize and adapt in doubt. Cities of the southernmost Netherlands and the Principality of Liège were forced to cope with the constant challenge represented by traffic in poorly designed arteries, with a morphology inherited from the medieval period and completely ill-suited to the movement of carriages and wagons. The problem posed by traffic in Belgian cities reached a critical threshold in the seventeenth century, a period in which we observe an increase in the number of horses and harnessed teams. The complications caused by this growing surge culminated in the next century and were marked by the formation of a police force obliged to face the challenge traffic represented. Consequently, numerous urban decisions were taken, transforming both the street's ‘lifestyle’ and physiognomy.

Evaluation of quality indicators of carriage movement under the conditions of operation by mobile systems

Evaluation of quality indicators of carriage movement under the conditions of operation by mobile systems

An automated system development to control the device for supplying slag-forming mixture into mould of CCM

The mechanism of feeding slag-forming mixture (SFM) with a pneumatic drive has a number of disadvantages associated, in particular, with the uneven supply of the mixture into mould. To eliminate the drawbacks, mixture feeding device with an electric drive was designed to eliminate them. In order to ensure control of the SFM feeding process, an automated system has been developed that provides real-time information on the technological process of feeding the mixture into the mould of continuous casting machine, including speed of rotation of screw drive motors and movement of carriage, the level of the mixture in the bunkers and its consumption, temperature of the metal and slag. A software and hardware complex (SCADA-system) has been developed, which makes it possible to analyze the components of the mixture in the “online” mode and take into account the effect of changes in the supply of each of them on its composition. The dependence of the mixture consumption rate on the casting rate has been established, which can be displayed on the screen in the current mode. Application of the SCADA-system made it possible to control the developed SFM feeder both in manual and automatic modes. It was shown that the implementation of the developed automated SFM feeding device in the steelmaking production of Ural Steel, JSC will secure decreasing the SFM consumption by 2.8% and decreasing downtime by 5% due to increasing efficiency of fault detection with a total implementation cost of 200 thous. rubles.

Pilot Studies of Vibrations Induced in Perambulators When Moving on Different Surfaces

The ergonomics of transport is a topic widely described in the literature. One of the fields of ergonomics that researchers are engaged in is vibrometry (both laser and accelerometry) of travel and its translation into NVH (Noise, Vibration and Harshness). However, so far, the influence of baby carriage movement on the generated vibrations has not been described in more detail. The topic seems to be particularly important considering occurrence of vibrations with significant amplitudes, whose frequency range can have a direct bearing on the resonance frequencies of the child’s internal organs. The article presents the results of research consisting in the measurement of vibrations to which an infant, lying in two different types of prams, may be exposed when being transported on different surfaces. The author’s measurement system, based on accelerometry, was used for the research. The obtained weighted RMS acceleration values not only exceeded human comfort level in all cases (according to ISO standard) but several times were in the range of the highest discomfort (>2 m/s2). Furthermore, the observed vibration frequency range (≈0 ÷ 32 Hz) coincided with the frequencies of free vibration of organs and parts of the child’s body.

Developing an Automated Monitoring System for Cable Yarding Systems

Cable yarders are often the preferred harvesting system when extracting trees on steep terrain. While the practice of cable logging is well established, productivity is dependent on many stand and terrain variables. Being able to continuously monitor a cable yarder operation would provide the opportunity not only to manage and improve the system, but also to study the effect on operations in different conditions.This paper presents the results of an automated monitoring system that was developed and tested on a series of cable yarder operations. The system is based on the installation of a Geographical Navigation Satellite System (GNSS) onto the carriage, coupled with a data-logging unit and a data analysis program. The analysis program includes a set of algorithms able to transform the raw carriage movement data into detailed timing elements. Outputs include basic aspects such average extraction distance, average inhaul and outhaul carriage speed, but is also able to distinguish number of cycles, cycle time, as well as break the cycles into its distinct elements of outhaul, hook, inhaul and unhook.The system was tested in eight locations; four in thinning operations in Italy and four clear-cut operations in New Zealand, using three different rigging configuration of motorized slack-pulling, motorized grapple and North Bend. At all locations, a manual time and motion study was completed for comparison to the data produced by the newly developed automated system. Results showed that the system was able to identify 98% of the 369 cycles measured. The 8 cycles not detected were directly attributed to the loss of GNSS signal at two Italian sites with tree cover. For the remaining 361 cycles, the difference in gross cycle time was less than 1% and the overall accuracy for the separate elements of the cycle was less than 3% when considered at the rigging system level. The study showed that the data analyses system developed can readily convert GNSS data of the carriage movement into information useful for monitoring and studying cable yarding operations.

Partial feedback linearization for a path control in a gantry crane used in lifting machinery in civil engineering

This paper presents an alternate form for the dynamic modelling of a mechanical system that simulates in real life a gantry crane type, using Euler Lagrange classical mechanics, which allows find the equations of motion that our model describes. In order to verify the theoretical results obtained, a comparison was made between solutions obtained by simulation in SimMechanics-Matlab and Euler Lagrange equations system, has been solved through Matlab libraries for solving equations systems of the type and order obtained. Based on the partial feedback linearization, an improved nonlinear controller is analyzed and designed for the movement of an overhead crane or industrial shed. Three control inputs composed of bridge movement forces, carriage displacement, and pendulum or load angle are used to handle the state variables consisting of bridge movement, carriage movement, load displacement, and angle of turn of the same. The objective is to bring the mass of the pendulum from one point to another with a specified distance without the oscillation from it, so that, the answer was overdamped. The asymptotic stability of Lyapunov is also studied and the control scheme is of position of the load, constituted by the non-linear feedback of the actuated and non-actuated states. To verify the quality of the control process, verify numerical simulations. The proposed controller asymptotically stabilizes all states in the system.

Model of Carriage Movement on Plane with Dry Friction Forces

Wheel slip model is an important aspect of vehicle driving stability and safety control. However, in most of the carriage movement models friction forces and wheel slip effect are being neglected. This paper raises the problem of wheel slip in dangerous driving and autonomous vehicles under critical driving modes, then tasks the modeling of movement of an individual vehicle is considered. These are two tasks of nonholonomic mechanics: 1) the movement of a wheelset without wheel slip (two disks freely mounted on an axis) along an inclined plane in the field of gravity, and 2) the movement of a flat wheel model, which, under certain assumptions, can be a four-wheeled carriage. In these tasks, in addition to the standard dynamics (continuous motion without wheel slip), critical situations can also be observed associated with wheel sleep and separation of wheels from plane.

A novel technique to design and production of coil spring in centre lathe

In this investigation is mainly focused on to design and production of a coil spring in a center lathe machine. The lathe machine is simply operated by a simple electric power; it has different operating speeds to form a coil spring with using of tumbler gear mechanism. The tumbler gear mechanism used for to make different diameter of the spring with different pitch. In this research the different diameter of shaft held in the chuck to produce different diameter of spring. The main purpose of the shaft to act as a guide for producing a spring under the various dimensions. The wire guider unit is used to guide the raw material as a spring wire, the wire guider unit is fixed in the tool post and also it moves on the lathe bed freely by moving of carriage unit along on the bed. The lead screw rotation and automatic movement of carriage are achieved by the tumbler gear mechanism. Variety of size also can be produced easily with short period.

Академік Всеволод Арутюнович Лазарян (1909‒1978) ‒ вчений, педагог, організатор науки і освіти (до 110-річчя від дня народження)

This article depicts the main stages of life, research and scientific, scientifically-organizational, pedagogic and public activity of the outstanding national scholar in the area of mechanics and railway transport, National Ukrainian prize-winner, academician of the Academy of Sciences of Ukraine - Vsevolod Arutyunovich Lazarian. This article indicates that he is the author of more than 300 published works in the field of mechanics- monographs, articles, manuals, and more than 20 invention certificates and patents. The theoretical studies of transitional modes of trains of V. A. Lazarian has always been supported by experimental research in trains and staging in test laboratories for experiments on electronic models of rolling stock.The work of V. A. Lazarian is also essential for practice, in which transition modes of motion of complex mechanical systems are investigated, with elements in the form of capacities, which are partially filled with liquid. The results of studies of transitional modes of trains are described and summarized in the monograph V. A. Lazarian"Investigation of Unspecified Traffic Train Mode", as well as in a number of articles. The great importance to theory and practice had the creation of V. A. Lazarian the theory of stability of motion of rail vehicles. Relying on the results of fundamental research of O. M. Liapunov in the direction of stability of movement, V. A. Lazarian has developed and used a number of methods for studying the stability of the movement of rail carriages. These methods allowed not only to develop engineering methods for assessing the stages of stability of the existing types of rolling stock, but also to put and solve the problem of finding such parameters of vehicles, in which their motion is stable in a given range of speeds. And these studies were supported by well-established experiments. 1972-1973 years under the guidance of V.A. Lazarian tests of a high-speed wagon-lab were carried out, during which for the first time in the former USSR the speed of rail transport was reached 250 km/h. Parameters of the spring suspension of the tested wagon-lab were determined earlier by V.А. Lazarian and his students on the basis of the developed theory of the stability of movement of rail carriage. They were such that the carriage movement, as it turned out from the theory, proved to be stable throughout the range of speeds. There was also a series of special experiments in which a high-speed wagon-lab with some structural changes was used. The results of these experiments convincingly confirmed the main provisions of the theory.

Improving a methodology of theoretical determination of the frame and directing forсes in modern diesel trains

The method for determining the directing force was improved, taking into consideration the effect of transverse creep forces and the angle of the directing force inclination to the vertical axis. It was established that when determining the directing force, it is necessary to check the gap between the wheel flange and the rail head which is difficult to realize without computer simulation. When determining the frame force on the axle of the wheel set, a comprehensive approach was adopted taking into account geometric irregularities of the track path, both in vertical and horizontal planes; longitudinal and transverse creep forces at the point of the wheel-rail contact and influence of adjacent wheel sets of the diesel train car. Dependences of the frame and directing forces on speed of the carriage movement and the value of amplitude of the horizontal irregularity of the rail track were obtained. It was established that when moving in the straight section of the track, an increase in speed from 0 m/s to 50 m/s results in a rise in the value of the frame force: up to 8.3 kN for the first wheel set and 19.37 kN for the second wheel set and the directing force up to 31.38 kN for the first wheel set and up to 46.83 kN for the second wheel set. The increase in amplitude of the horizontal irregularity of the track, which is one of the primary causes of occurrence of forced oscillations of the carriage section above the springs also leads to an increase in numerical values of the forces of interaction of the rolling stock with the rail track. All this can bring about an increased power influence of the wheel set on the track and a negative impact on the basic criteria of traffic safety. Influence of the carriage movement speed on the value of transverse creep forces was studied. It has been established that with an increase in the carriage speed from 0 m/s to 50 m/s, these forces grow from 0 to 15.75 kN for the 1 st wheel set and from 0 to 29.22 kN for the 2 nd wheel set. This indicates impermissibility of neglecting the transverse creep forces when determining the directing force. Comparison of numerical values of the directing force determined by different methodologies was performed. It has been established that the methodology used in conducting forensic examination of railroad accidents may result in underestimation of fulfillment of the derailing condition. At the same time, calculations according to the formula improved in this study give an opportunity to obtain the results most approximate to the real operation conditions. Comparison of the experimental and theoretical calculated values of the frame force acting on the first wheel set of the diesel train car was made and their practical coincidence was shown. Discrepancy of the compared values of the frame force was within 7.2 %

The movement of a symmetric carriage on omni-wheels with massive rollers

The movement of a symmetric carriage on omni-wheels with massive rollers