Simulation Modeling of the Robotic System Operations Designed for Parallel Train Break-Up on Automated Humps

Abstract

Within the framework of the Digital Railway Terminal Concept, it is expected to create robotic complexes that provide automatic train break-up and wagon uncoupling at a sorting hump. This article deals with the issue of selecting technical and operational characteristics and algorithm for a mobile platform moving part of such a robotic complex. The article describes the developed mathematical model that takes into account various options of the mobile platform movements. Using the developed model, various designs of the robotic complex mobile platform have been compared including those by a number of consecutively formed wagon cuts. The simulation has shown that a greater number of consecutively formed wagon cuts can be achieved by increasing the speed and acceleration of the mobile platform carriage, as well as by using a more complex algorithm for the mobile platform carriage. This requires the use of an additional fixed track sensor designed for measuring the distance between the current carriage ordinates and automated couplers to be uncoupled.