Possibility of jamming and wedging in the three-piece trucks of a moving freight car

Ushkalov, V. F.; Zhechev, M. M.; McKisic, A. D.

doi:10.1080/00423110600842427

Cited by 6 publications

(3 citation statements)

References 4 publications

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“…In recent years, the wide range of applications for factory automation have caused an increasing number of studies on autonomous transportation. There are plenty of mobile robots that are capable of handling dissimilar tasks in a warehouse-for instance, a tractor-trailer using a feedback linearizing dynamic controller [26], automatic visual guidance for a forklift vehicle [27,28], enhanced control strategy for a mobile robot [29,30], and upper limits of forces for a freight-car truck [31]. Each of these is available for a specified working area.…”

Section: Methodsmentioning

confidence: 99%

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Sustainable Agriculture: Stable Robust Control in Presence of Uncertainties for Multi-Functional Indoor Transportation of Farm Products

et al. 2020

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Currently, integrated trends play a key role in every aspect of automation applications. In particular, if the mechanization of agriculture becomes a competitive factor among farmers or nations, then the multi-functional transportation of agricultural products is inevitable in global trade. In sustainable transportation, the challenge of overcoming stable control in harsh environments, such as through imprecise parameters or varying loads, should be addressed. In this paper, a novel controller for a nonholonomic mechanical system able to adapt to uncertainties is proposed. Based on the multi-functional autonomous carrier (MAC), the system configuration of the kinematic and dynamic model is launched in order to identify the unstable problems that arise when tracking the trajectory. To solve these troubles, the decoupled formation of a MAC system has been investigated by considering two second-order components, namely a linear speed-based sub-system and angular speed-based sub-system. To stabilize the whole system using the Lyapunov theory, the advanced control techniques are studied. To validate the proposed approach, a series of test scenarios have been carried out. From the superior performance of numerous trials, it is clear that our approach is effective, feasible, and reasonable for the advanced control of agricultural applications.

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Section: Methodsmentioning

confidence: 99%

“…To maintain the state variables on a sliding surface, it must be satisfied . s = 0; at that time, the equivalent controller is derived from (31).…”

Section: Hypothesis 4 (H4)mentioning

confidence: 99%

Sustainable Agriculture: Stable Robust Control in Presence of Uncertainties for Multi-Functional Indoor Transportation of Farm Products

et al. 2020

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“…Reference [1] gave rise to a number of publications by other authors (e.g. references [2] to [13]), who came up against wedging in the study of similar processes.…”

Section: Introductionmentioning

confidence: 99%

Geometrical conditions for wedging in mechanical systems with Coulomb friction

Zhechev

Khramova

2009

Proceedings of the Institution of Mechanical Engineers, Part C:

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It is known that a phenomenon referred to as wedging can occur in mechanical systems with friction. This phenomenon occurs in certain system positions, and an actual mechanical system can be started from a wedged position only at the cost of irreversible deformations. Although the results of the theoretical study of wedging are of great importance in the development and operation of process automation systems, the theory of this phenomenon is still in the making. In this work, the notion of a wedgeable system is introduced and its rigorous definition is given. Within the framework of the traditional formulation, this definition reflects the properties of wedging in actual mechanical systems in the most adequate manner. Based on this notion, a number of statements on wedging conditions in mechanical systems with two and three frictional contacts are proved. Simple, convenient in use rules are given for identifying the possibility of wedging in peg-in-hole systems with two and three frictional contacts.

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Multibody Dynamics Approach to the Modeling of Friction Wedge Elements for Freight Train Suspensions. I: Theory

2010

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Possibility of jamming and wedging in the three-piece trucks of a moving freight car

Cited by 6 publications

References 4 publications

Sustainable Agriculture: Stable Robust Control in Presence of Uncertainties for Multi-Functional Indoor Transportation of Farm Products

Sustainable Agriculture: Stable Robust Control in Presence of Uncertainties for Multi-Functional Indoor Transportation of Farm Products

Geometrical conditions for wedging in mechanical systems with Coulomb friction

Multibody Dynamics Approach to the Modeling of Friction Wedge Elements for Freight Train Suspensions. I: Theory

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