Modeling and Simulation of Generic Handling Operations in In-Plant Milk-Run Systems

Lieb, Christian; Prinz, Theresa; Günthner, Willibald A.; Fottner, Johannes

doi:10.1109/icitm.2019.8710720

Cited by 2 publications

(2 citation statements)

References 10 publications

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“…Logistic trains are applied means of transport across all sectors of production supply, especially in the intralogistics system (Lieb et al, 2019). A logistic train is usually called a milk-runner.…”

Section: Steering Systems For the Logistic Trainmentioning

confidence: 99%

Dynamic model of a logistic train with different steering systems and tire models

Paszkowiak

Bartkowiak

2021

Lat. Am. j. solids struct.

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Logistic train is one of the recent solutions applied in the intralogistics. It bases on the concept of the "milkrun" 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.

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Section: Steering Systems For the Logistic Trainmentioning

confidence: 99%

Dynamic model of a logistic train with different steering systems and tire models

Paszkowiak

Bartkowiak

2021

Lat. Am. j. solids struct.

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“…In this approach, one tanker collects milk with one truck from many dairy farms [5]. It is similar in the industry, but the truck is replaced by the logistic train and dairy farms are simply multiple workstations [6]. Each milk-run route is fixed with a certain sequence of stops serving at least one supplier and being executed cyclically or according to a schedule [7].…”

Section: Introductionmentioning

confidence: 99%

Kinematic Model of a Logistic Train with a Double Ackermann Steering System

Paszkowiak¹,

Bartkowiak²,

Pelic³

2021

Int. j. simul. model.

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The demand for fast, economic and high load capacity intralogistics transport is a growing trend. One of the recent solution is a logistic train, which consists of a tractor and a certain number of towed trailers. It is essential that the trailer follows the track of the preceding unit as it allows reduction of shopfloor area dedicated for transport. A perfectly suited steering system for this application is the double Ackermann system. In this study, the kinematic model of the tractor with n trailers was developed based on the Jacobian matrix. The tractor model was adapted to drive along a given trajectory using a PD controller. The simulation studies confirmed that the PD controller is sufficient to control the trajectory for developed kinematic model. The obtained results showed that the trailers with the double Ackermann steering system follow a similar path, which is the most convenient for narrow turn ride. The developed kinematic model can be used for the fast path planning and the design of transportation routes in manufacturing areas. The expanded model with an advanced control system can be used to control a real logistic train.

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Modeling and Simulation of Generic Handling Operations in In-Plant Milk-Run Systems

Cited by 2 publications

References 10 publications

Dynamic model of a logistic train with different steering systems and tire models

Dynamic model of a logistic train with different steering systems and tire models

Kinematic Model of a Logistic Train with a Double Ackermann Steering System

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