New Control Concept for a Gantry Tractor Comprising a "Chorus Line" of Synchronized Modules

A new method of automatically maneuvering a gantry tractor through right-angle turns, U-turns, and narrow gates is described in this paper. In order to maximize traction and maneuverability, both the wheel-angle steering effect and the drive-wheel-speed steering effect are integrated. This technique...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2010-02, Vol.57 (2), p.762-768
Main Authors: Ibrahim, M.Y., Spark, I.J., Percy, A.
Format: Article
Language:English
Subjects:
Automatic control
Control
Fuels
Gantries
gantry tractor
Land vehicles
Maneuverability
Navigation
Redundant
Road vehicles
Simulation
Sparks
Stability
Steering
Steering systems
synchronized modules
Tires
Traction
Tractors
Wheels
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Summary:A new method of automatically maneuvering a gantry tractor through right-angle turns, U-turns, and narrow gates is described in this paper. In order to maximize traction and maneuverability, both the wheel-angle steering effect and the drive-wheel-speed steering effect are integrated. This technique produces identical and cooperative redundant steering systems. The necessary wheel angles and drive wheel speed have been simulated. The advantage of cooperative redundancy is that when any steering system begins to fail, it is reinforced by the other steering system.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2009.2028365